High-Quality Texture Reconstruction from Multiple Scans
IEEE Transactions on Visualization and Computer Graphics
An Automatic Registration Algorithm for Two Overlapping Range Images
CAIP '99 Proceedings of the 8th International Conference on Computer Analysis of Images and Patterns
An accurate and fast point-to-plane registration technique
Pattern Recognition Letters
Model-Based Tracking by Classification in a Tiny Discrete Pose Space
IEEE Transactions on Pattern Analysis and Machine Intelligence
Registration of combined range-intensity scans: Initialization through verification
Computer Vision and Image Understanding
Multiview registration for large data sets
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Robust surface matching for registration
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Robustly registering range images using local distribution of albedo
Computer Vision and Image Understanding
Online loop closure for real-time interactive 3D scanning
Computer Vision and Image Understanding
Manipulator and object tracking for in-hand 3D object modeling
International Journal of Robotics Research
PCM'05 Proceedings of the 6th Pacific-Rim conference on Advances in Multimedia Information Processing - Volume Part II
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Textured surface models of three-dimensional objects are gaining importance in computer graphics applications. These models often have to be merged from several overlapping partial models which have to be registered (i.e. the relative transformation between the partial models has to be determined) prior to the merging process. In this paper a method is presented that makes use of both camera-based depth information (e.g. from stereo) and the luminance image. The luminance information is exploited to determine corresponding point sets on the partial surfaces using an optical flow approach. Quaternions are then employed to determine the transformation between the partial models which minimizes the sum of the 3-D Euclidian distances between the corresponding point sets. In order to find corresponding points on the partial surfaces luminance information is linearized. The procedure is iterated until convergence is reached. In contrast to only using depth information, employing luminance speeds up convergence and reduces remaining degrees of freedom (e.g. when registering sphere-like shapes).