The representation, recognition, and locating of 3-d objects
International Journal of Robotics Research
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
Surface reconstruction from unorganized points
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Object modelling by registration of multiple range images
Image and Vision Computing - Special issue: range image understanding
Zippered polygon meshes from range images
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Iterative point matching for registration of free-form curves and surfaces
International Journal of Computer Vision
A robust method for registration and segmentation of multiple range images
Computer Vision and Image Understanding
Towards a General Multi-View Registration Technique
IEEE Transactions on Pattern Analysis and Machine Intelligence
Estimating 3-D rigid body transformations: a comparison of four major algorithms
Machine Vision and Applications - Special issue on performance evaluation
Simultaneous registration of multiple range views for use in reverse engineering of CAD models
Computer Vision and Image Understanding - Special issue on CAD-based computer vision
Robust motion and correspondence of noisy 3-D point sets with missing data
Pattern Recognition Letters
Simultaneous registration of multiple corresponding point sets
Computer Vision and Image Understanding
Registering Multiview Range Data to Create 3D Computer Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Solution for the Registration of Multiple 3D Point Sets Using Unit Quaternions
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
Mosaics of Scenes with Moving Objects
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Registration of Multiple Point Sets
ICPR '96 Proceedings of the 13th International Conference on Pattern Recognition - Volume 2
Multiview registration for large data sets
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Special issue on registration and fusion of range images
Computer Vision and Image Understanding - Registration and fusion of range images
Spectral registration of noisy sonar data for underwater 3D mapping
Autonomous Robots
Three-dimensional coverage planning for an underwater inspection robot
International Journal of Robotics Research
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This paper proposes a technique for the three-dimensional reconstruction of an underwater environment from multiple acoustic range views acquired by a remotely operated vehicle. The problem is made challenging by the very noisy nature of the data. the low resolution, and the narrow field of view. Our main contribution is a new global registration technique to distribute registration errors evenly across all views. Our approach does not use data points after the first pairwise registration, for it works only on the transformations. Therefore. it is fast and occupies only a small amount of memory. Experimental results suggest the global registration technique is effective in equalizing the error. Moreover, we introduce a statistically sound thresholding (the X84 rejection rule) to improve ICP robustness against noise and nonoverlapping data.