Registration and integration of multiple range images for 3-D model construction

• Published in: Proceedings of 13th International Conference on Pattern Recognition Vol. 1; pp. 879 - 883 vol.1
• Main Authors: Masuda, T., Sakaue, K., Yokoya, N.
• Format: Conference Proceeding
• Language: English; Japanese
• Published: IEEE 1996
• Subjects: Iterative closest point algorithm; Least squares approximation
• ISBN: 9780818672828; 081867282X
• ISSN: 1051-4651
• DOI: 10.1109/ICPR.1996.546150

Registration and integration of measured data of real objects are becoming important in 3D modeling for computer graphics and computer-aided design. We propose a new algorithm of registration and integration of multiple range images for producing a geometric object surface model. The registration algorithm determines a set of rigid motion parameters that register a range image to a given mesh-based geometric model. The algorithm is an integration of the iterative closest point algorithm with the least median of squares estimator. After registration, points in the input range are classified into inliers and outliers according to registration errors between each data point and the model. The outliers are appended to the surface model to be used by registration with the following range images. The parts classified as inlier by at least one registration result is segmented out to be integrated. This process consisting of registration and integration is iterated until all views are integrated. We successfully experimented with the proposed method on real range image sequences taken by a rangefinder. The method does not need any preliminary processes.