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
Zippered polygon meshes from range images
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Towards a General Multi-View Registration Technique
IEEE Transactions on Pattern Analysis and Machine Intelligence
A volumetric method for building complex models from range images
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Point Signatures: A New Representation for 3D Object Recognition
International Journal of Computer Vision
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Automatic crude patch registration: toward automatic 3D model building
Computer Vision and Image Understanding - Registration and fusion of range images
Surface registration by matching oriented points
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Geometrical cloning of 3D objects via simultaneous registration of multiple range images
SMA '97 Proceedings of the 1997 International Conference on Shape Modeling and Applications (SMA '97)
Registration and Integration of Multiple Range Images for 3-D Model Construction
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
Laser Stripe Peak Detector for 3D Scanners. A FIR Filter Approach
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 3 - Volume 03
Hand to sensor calibration: A geometrical interpretation of the matrix equation AX=XB
Journal of Robotic Systems
A review of recent range image registration methods with accuracy evaluation
Image and Vision Computing
Global registration of multiple 3D point sets via optimization-on-a-manifold
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
Multiview registration for large data sets
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Heuristic-based laser scan matching for outdoor 6d SLAM
KI'05 Proceedings of the 28th annual German conference on Advances in Artificial Intelligence
Multiview registration of 3D scenes by minimizing error between coordinate frames
IEEE Transactions on Pattern Analysis and Machine Intelligence
Hierarchical Normal Space Sampling to speed up point cloud coarse matching
Pattern Recognition Letters
Bayesian perspective for the registration of multiple 3D views
Computer Vision and Image Understanding
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We propose an algorithm for the on-line automatic registration of multiple 3D surfaces acquired in a sequence by a new hand-held laser scanner. The laser emitter is coupled with an optical lens that spreads the light forming 19 parallel slits that are projected to the scene and acquired with subpixel accuracy by a camera. Splines are used to interpolate the acquired profiles to increase the sample of points and Delaunay triangulation is used to obtain the normal vectors at every point. A point-to-plane pair-wise registration method is proposed to align the surfaces in pairs while they are acquired, conforming paths and eventually cycles that are minimized once detected. The algorithm is specially designed for on-line applications and can be classified as a closing-the-loop technique, where there are not that many competing methods, though it has been compared to the literature. Experiments providing qualitative and quantitative evaluation are shown by means of synthetic and real data and we demonstrated the reliability of our technique.