Object modelling by registration of multiple range images
Image and Vision Computing - Special issue: range image understanding
A high-speed and continuous 3D measurement system
Machine Vision and Applications - Special issue: new architectural solutions for computer vision systems
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This paper describes a method for automatic registration of real-time serial range imagesobtained under the condition free from any artificial restriction. As first step, serial rangeimages are captured by real-time 3-D measurement system developed in our laboratory. Then, four cross points between four real and/or virtual planes extracted from extended gaussian-image of the target are estimated in each range image and four corresponding points between two consecutive range images are determined from thus estimated cross points and extended gaussian-images, automatically. Next, affine transformation matrices, which give mutual position relationship between two consecutive range images, are derived in order from thus determined four corresponding points. Concatenating thus derived affine transformation matrices in order, registration of all serial range images are performed by transforming them to one coordinate system of arbitrary chosen range image. As a result, automatic registration of time sequential range images is realized with high accuracy and low computational cost.