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
Shape and motion from image streams under orthography: a factorization method
International Journal of Computer Vision
A Paraperspective Factorization Method for Shape and Motion Recovery
ECCV '94 Proceedings of the Third European Conference-Volume II on Computer Vision - Volume II
Alignment of Continuous Video onto 3D Point Clouds
IEEE Transactions on Pattern Analysis and Machine Intelligence
Global registration of multiple 3D point sets via optimization-on-a-manifold
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
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This paper describes a shape recovery framework based on scaled orthographic factorization and incremental 3D point cloud registration. While the camera is moving freely in unknown environments, point features are automatically extracted and tracked. Using the tracked features in three consecutive frames, 3D locations are recovered and partial point subsets are immediately registered to the global point cloud. The advantage of the proposed incremental method is that the registration process does not rely on past frames for estimating the global 3D point cloud. The shape recovery and registration steps are combined as a single procedure that processes each input frame only once. All the internal steps are linear and non-iterative, hence the procedure is applicable to on-line interactive applications. Experimental results showing the feasibility of the presented approach are also provided.