Active, optical range imaging sensors
Machine Vision and Applications
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
Four results on randomized incremental constructions
Computational Geometry: Theory and Applications
Registering range views of multipart objects
Computer Vision and Image Understanding
A robust method for registration and segmentation of multiple range images
Computer Vision and Image Understanding
Rigid, affine and locally affine registration of free-form surfaces
International Journal of Computer Vision
New feature points based on geometric invariants for 3D image registration
International Journal of Computer Vision
SUSAN—A New Approach to Low Level Image Processing
International Journal of Computer Vision
Determining the Epipolar Geometry and its Uncertainty: A Review
International Journal of Computer Vision
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
Fusing and guiding range measurements with colour video images
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Surface registration by matching oriented points
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
A Fast Automatic Method for Registration of Partially-Overlapping Range Images
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
High-Quality Texture Reconstruction from Multiple Scans
IEEE Transactions on Visualization and Computer Graphics
International Journal of Computer Vision
Registration of combined range-intensity scans: Initialization through verification
Computer Vision and Image Understanding
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
VCLab''s tools for 3D range data processing
VAST'03 Proceedings of the 4th International conference on Virtual Reality, Archaeology and Intelligent Cultural Heritage
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This paper describes a method of automatically performing the registration of two range images that have significant overlap. We first find points of interest in the intensity data that comes with each range image. Then we perform a triangulation of the 3D range points associated with these 2D interest points. All possible pain of triangles between the two 3D triangulations are then matched. The fact that we have 3D data available makes it possible to efficiently prune matches. We do this pruning by using a simple and effective set of compatibility tests between potentially matching triangles and vertices. The best match is the one that aligns the larqest number of interest points between the two mnge images. The algorithms are demonstrated experimentally on a number of different range image pairs.