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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Published in | Proceedings. 17th Brazilian Symposium on Computer Graphics and Image Processing pp. 388 - 395 |
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Main Authors | , , , , |
Format | Conference Proceeding |
Language | English |
Published |
IEEE
2004
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Subjects | |
Online Access | Get full text |
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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. |
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ISBN: | 0769522270 9780769522272 |
ISSN: | 1530-1834 2377-5416 |
DOI: | 10.1109/SIBGRA.2004.1352985 |