The Design and Use of Steerable Filters
IEEE Transactions on Pattern Analysis and Machine Intelligence
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
Structural Indexing: Efficient 2D Object Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence
Iterative point matching for registration of free-form curves and surfaces
International Journal of Computer Vision
Building 3-D models from unregistered range images
Graphical Models and Image Processing
Towards a General Multi-View Registration Technique
IEEE Transactions on Pattern Analysis and Machine Intelligence
Extension of the ICP algorithm to nonrigid intensity-based registration of 3D volumes
Computer Vision and Image Understanding
Point Signatures: A New Representation for 3D Object Recognition
International Journal of Computer Vision
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust Parameter Estimation in Computer Vision
SIAM Review
The digital Michelangelo project: 3D scanning of large statues
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
A survey of free-form object representation and recognition techniques
Computer Vision and Image Understanding
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
ICP Registration Using Invariant Features
IEEE Transactions on Pattern Analysis and Machine Intelligence
High-Quality Texture Reconstruction from Multiple Scans
IEEE Transactions on Visualization and Computer Graphics
Registering Multiview Range Data to Create 3D Computer Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
Shape Matching and Object Recognition Using Shape Contexts
IEEE Transactions on Pattern Analysis and Machine Intelligence
Automatic crude patch registration: toward automatic 3D model building
Computer Vision and Image Understanding - Registration and fusion of range images
Pair-wise range image registration: a study in outlier classification
Computer Vision and Image Understanding - Registration and fusion of range images
Affine/ Photometric Invariants for Planar Intensity Patterns
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
Multi-scale EM-ICP: A Fast and Robust Approach for Surface Registration
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
Registration of 3-D partial surface models using luminance and depth information
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Genetic Algorithms for Free-Form Surface Matching
ICPR '96 Proceedings of the International Conference on Pattern Recognition (ICPR '96) Volume IV-Volume 7472 - Volume 7472
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
New Methods for Digital Modeling of Historic Sites
IEEE Computer Graphics and Applications
Pattern Classification (2nd Edition)
Pattern Classification (2nd Edition)
Scale & Affine Invariant Interest Point Detectors
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Registration of Range Images that Preserves Local Surface Structures and Color
3DPVT '04 Proceedings of the 3D Data Processing, Visualization, and Transmission, 2nd International Symposium
Registration of point cloud data from a geometric optimization perspective
Proceedings of the 2004 Eurographics/ACM SIGGRAPH symposium on Geometry processing
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
Semi-Automatic Range to Range Registration: A Feature-Based Method
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
3D Registration by Textured Spin-Images
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
Projective Surface Matching of Colored 3D Scans
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
Multi-Image Matching Using Multi-Scale Oriented Patches
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Range Data Registration Using Photometric Features
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
A Performance Evaluation of Local Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
International Journal of Computer Vision
A Comparison of Affine Region Detectors
International Journal of Computer Vision
Geometry and Convergence Analysis of Algorithms for Registration of 3D Shapes
International Journal of Computer Vision
Fully Automatic Registration of 3D Point Clouds
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
A review of recent range image registration methods with accuracy evaluation
Image and Vision Computing
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
Registration of Challenging Image Pairs: Initialization, Estimation, and Decision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiview registration for large data sets
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Registering two overlapping range images
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Fast and robust registration of 3D surfaces using low curvature patches
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
Image-based registration of 3D-range data using feature surface elements
VAST'04 Proceedings of the 5th International conference on Virtual Reality, Archaeology and Intelligent Cultural Heritage
Plane Filtering for the Registration of Urban Range Laser Imagery
IbPRIA '09 Proceedings of the 4th Iberian Conference on Pattern Recognition and Image Analysis
Affine iterative closest point algorithm for point set registration
Pattern Recognition Letters
Physical Scale Keypoints: Matching and Registration for Combined Intensity/Range Images
International Journal of Computer Vision
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This paper presents an automatic registration system for aligning combined range-intensity scan pairs. The overall approach is designed to handle several challenges including extensive structural changes, large viewpoint differences, repetitive structure, illumination differences, and flat regions. The technique is split into three stages: initialization, refinement, and verification. During initialization, intensity keypoints are backprojected into the scans and matched to form candidate transformations, each based on a single match. We explore methods of improving this image-based matching using the range data. For refinement, we extend the Dual-Bootstrap ICP algorithm for alignment of range data and introduce novel geometric constraints formed by backprojected image-based edgel features. The verification stage determines if a refined transformation is correct. We treat verification as a classification problem based on accuracy, stability, and a novel boundary alignment measure. Experiments with 14 scan pairs show both the overall effectiveness of the algorithm and the importance of its component techniques.