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Least-Squares Estimation of Transformation Parameters Between Two Point Patterns
IEEE Transactions on Pattern Analysis and Machine Intelligence
Structural Indexing: Efficient 3-D Object Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
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
Building 3-D models from unregistered range images
Graphical Models and Image Processing
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
A survey of free-form object representation and recognition techniques
Computer Vision and Image Understanding
Progress in Linear Programming-Based Algorithms for Integer Programming: An Exposition
INFORMS Journal on Computing
Globally Convergent Range Image Registration by Graph Kernel Algorithm
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
Automatic Registration of Range Images Based on Correspondence of Complete Plane Patches
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
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A coarse registration method using Mixed Integer Linear Programming (MILP) is described that finds global optimal registration parameter values that are independent of the values of invariant features. We formulate the range image registration problem using MILP. Our algorithm using MILP formulation finds the best balanced optimal registration for robustly aligning two range images with the best balanced accuracy. It adjusts the error tolerance automatically in accordance with the accuracy of the given range image data. Experimental results show that this method of coarse registration is highly effective.