Automatic image alignment for 3D environment modeling

We describe an approach for automatically registering color images with 3D laser scanned models. We use the chi-square statistic to compare color images to polygonal models texture mapped with acquired laser reflectance values. In complicated scenes we find that the chi-square test is not robust eno...

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Bibliographic Details
Published inProceedings. 17th Brazilian Symposium on Computer Graphics and Image Processing pp. 388 - 395
Main Authors Williams, N., Kok-Lim Low, Hantak, C., Pollefeys, M., Lastra, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2004
Subjects
Automatic testing
Cameras
Color
Joining processes
Laser modes
Layout
Optimization methods
Reflectivity
Robustness
Statistics
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Summary:We describe an approach for automatically registering color images with 3D laser scanned models. We use the chi-square statistic to compare color images to polygonal models texture mapped with acquired laser reflectance values. In complicated scenes we find that the chi-square test is not robust enough to permit an automatic global registration approach. Therefore, we introduce two techniques for obtaining initial pose estimates that correspond to a coarse alignment of the data. The first method is based on rigidly attaching a camera to a laser scanner and the second utilizes object tracking to decouple these imaging devices. The pose estimates serve as an initial guess for our optimization method, which maximizes the chi-square statistic over a local space of transformations in order to automatically determine the proper alignment.
ISBN:0769522270
9780769522272
ISSN:1530-1834
2377-5416
DOI:10.1109/SIBGRA.2004.1352985