Range image registration using hierarchical segmentation and clustering

Authors:
Yonghuai Liu;Longzhuang Li;Xianghua Xie;Baogang Wei
Affiliations:
Department of Computer Science, Aberystwyth University, Ceredigion, UK;Department of Computing Sciences, Texas A and M University, Corpus Christi, TX;Department of Computer Science, Swansea University, Swansea, UK;College of Computer Sciences, Zhejiang University, Hangzhou, P.R. China
Venue:
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Year:
2009

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Abstract

An accurate, robust, and automatic registration of overlapping range images is usually a pre-requisite step for range image analysis and applications. While accurate depiction of object geometry requires the increase of the resolutions of images and thus, the amount of data to process, an efficient processing of such data then usually becomes an issue. In this paper, we first employ the efficient tensor analysis and k means clustering methods to hierarchically segment and cluster the original range images into a small number of planar patches represented as the closest points in the original images to their centroids. Then an advanced ICP variant is adopted to register such closest points. Finally, another ICP variant is used to refine the registration results obtained over all the points in the images. The experimental results based on real range images show that the proposed technique significantly outperforms the selected two state of the art ones for accurate and efficient registration of overlapping range images.