Robust Point Correspondence Applied to Two-and Three-Dimensional Image Registration
IEEE Transactions on Pattern Analysis and Machine Intelligence
High-Quality Texture Reconstruction from Multiple Scans
IEEE Transactions on Visualization and Computer Graphics
Optical 3D Digitizers: Bringing Life to the Virtual World
IEEE Computer Graphics and Applications
Hybrid Approach to the Construction of Triangulated 3D Models of Building Interiors
ICVS '99 Proceedings of the First International Conference on Computer Vision Systems
Range image registration by neural network
Machine Graphics & Vision International Journal
An accurate and fast point-to-plane registration technique
Pattern Recognition Letters
Multi-Feature Matching Algorithm for Free-Form 3D Surface Registration
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 2 - Volume 2
Proceedings of the 20th spring conference on Computer graphics
A system for articulated tracking incorporating a clothing model
Machine Vision and Applications
Registration of 3D Points Using Geometric Algebra and Tensor Voting
International Journal of Computer Vision
Towards 3D Point cloud based object maps for household environments
Robotics and Autonomous Systems
6D scan registration using depth-interpolated local image features
Robotics and Autonomous Systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Registration of 2D Points Using Geometric Algebra and Tensor Voting
Journal of Mathematical Imaging and Vision
Multiview registration for large data sets
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
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
Iterative closest SIFT formulation for robust feature matching
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
A comparison of shape matching methods for contour based pose estimation
IWCIA'06 Proceedings of the 11th international conference on Combinatorial Image Analysis
RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments
International Journal of Robotics Research
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In general, multiple views are required to create a complete 3-D model of an object or of a multi-roomed indoor scene. In this work, we address the problem of merging multiple textured 3-D data sets, each of which corresponds to a different view of a scene or object. There are two steps to the merging process: registration and integration. To register, or align, data sets we use a modified version of the Iterative Closest Point algorithm; our version, which we call color ICP, considers not only 3-D information, but color as well. We show that the use of color decreases registration error by an order of magnitude. Once the 3-D data sets have been registered we integrate them to produce a seamless, composite 3-D textured model. Our approach to integration uses a 3-D occupancy grid to represent likelihood of spatial occupancy through voting. In addition to occupancy information, we store surface normal in each voxel of the occupancy grid. Surface normal is used to robustly extract a surface from the occupancy grid; on that surface we blend textures from multiple views.