Robust three-dimensional registration of range images using a new genetic algorithm

Authors:
John Willian Branch;Flavio Prieto;Pierre Boulanger
Affiliations:
Escuela de Sistemas, Universidad Nacional de Colombia, Sede Medellín;Departamento de Eléctrica, Electrónica y Computación, Universidad Nacional de Colombia, Sede Manizales;Department of Computing Science, University of Alberta, Canada
Venue:
GMP'06 Proceedings of the 4th international conference on Geometric Modeling and Processing
Year:
2006

Citing 4
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Abstract

Given two approximately aligned range images of a real object, it is possible to carry out the registration of those images using numerous algorithms such as ICP. Registration is a fundamental stage in a 3D reconstruction process. Basically the task is to match two or more images taken in different times, from different sensors, or from different viewpoints. In this paper, we discuss a number of possible approaches to the registration problem and propose a new method based on the manual pre-alignment of the images followed by an automatic registration process using a novel genetic optimization algorithm. Results for real range data are presented. This procedure focuses, on the problem of obtaining the best correspondence between points through a robust search method between partially overlapped images.