A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Object modelling by registration of multiple range images
Image and Vision Computing - Special issue: range image understanding
Zippered polygon meshes from range images
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Iterative point matching for registration of free-form curves and surfaces
International Journal of Computer Vision
A robust method for registration and segmentation of multiple range images
Computer Vision and Image Understanding
Towards a General Multi-View Registration Technique
IEEE Transactions on Pattern Analysis and Machine Intelligence
Optimal Registration of Object Views Using Range Data
IEEE Transactions on Pattern Analysis and Machine Intelligence
Registration and Integration of Multiple Object Views for 3D Model Construction
IEEE Transactions on Pattern Analysis and Machine Intelligence
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust motion and correspondence of noisy 3-D point sets with missing data
Pattern Recognition Letters
A survey of free-form object representation and recognition techniques
Computer Vision and Image Understanding
ICP Registration Using Invariant Features
IEEE Transactions on Pattern Analysis and Machine Intelligence
Convergence Properties of the Nelder--Mead Simplex Method in Low Dimensions
SIAM Journal on Optimization
Journal of Intelligent and Robotic Systems
Registering Multiview Range Data to Create 3D Computer Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Maximum-Likelihood Surface Estimator for Dense Range Data
IEEE Transactions on Pattern Analysis and Machine Intelligence
Model Acquisition by Registration of Multiple Acoustic Range Views
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
International Journal of Computer Vision
Multiview registration for large data sets
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Multiview registration of 3D scenes by minimizing error between coordinate frames
IEEE Transactions on Pattern Analysis and Machine Intelligence
Accurate overlap area detection using a histogram and multiple closest points
ICCVG'10 Proceedings of the 2010 international conference on Computer vision and graphics: Part II
Range map superresolution-inpainting, and reconstruction from sparse data
Computer Vision and Image Understanding
Robotics and Computer-Integrated Manufacturing
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Missing data are common in range images, due to geometric occlusions, limitations in the sensor field of view, poor reflectivity, depth discontinuities, and cast shadows. Using registration to align these data often fails, because points without valid correspondences can be incorrectly matched. This paper presents a maximum likelihood method for registration of scenes with unmatched or missing data. Using ray casting, correspondences are formed between valid and missing points in each view. These correspondences are used to classify points by their visibility properties, including occlusions, field of view, and shadow regions. The likelihood of each point match is then determined using statistical properties of the sensor, such as noise and outlier distributions. Experiments demonstrate a high rates of convergence on complex scenes with varying degrees of overlap.