IEEE Transactions on Pattern Analysis and Machine Intelligence
Differential invariants as the base of triangulated surface registration
Computer Vision and Image Understanding - Registration and fusion of range images
An Automatic Registration Algorithm for Two Overlapping Range Images
CAIP '99 Proceedings of the 8th International Conference on Computer Analysis of Images and Patterns
Efficient partial-surface registration for 3D objects
Computer Vision and Image Understanding
A review of recent range image registration methods with accuracy evaluation
Image and Vision Computing
Global registration of multiple 3D point sets via optimization-on-a-manifold
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
Optimisation-on-a-manifold for global registration of multiple 3D point sets
International Journal of Intelligent Systems Technologies and Applications
Multi-view 3D scanned data registration
Proceedings of the 2008 C3S2E conference
Summarizing Image/Surface Registration for 6DOF Robot/Camera Pose Estimation
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
Simultaneous registration of multiple views with markers
Computer-Aided Design
Efficient partial-surface registration for 3D objects
Computer Vision and Image Understanding
An automated registration method for range images
Edutainment'07 Proceedings of the 2nd international conference on Technologies for e-learning and digital entertainment
Multiview registration for large data sets
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Registering two overlapping range images
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Large data sets and confusing scenes in 3-D surface matching and recognition
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Automatic registration and calibration for efficient surface light field acquisition
VAST'06 Proceedings of the 7th International conference on Virtual Reality, Archaeology and Intelligent Cultural Heritage
Automated view integration techniques for numerous 3d clouds of points
EuroMed'12 Proceedings of the 4th international conference on Progress in Cultural Heritage Preservation
Transformed polynomials for global registration of point clouds
Proceedings of the 27th Spring Conference on Computer Graphics
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A popular approach for 3D registration of partially-overlapping range images is the ICP (iterative closest point) method and many of its variations. The major drawback of this type of iterative approaches is that they require a good initial estimate to guarantee that the correct solution can always be found. In this paper, we propose a new method, the RANSAC-basedDARCES (data-aligned rigidity-constrained exhaustive search) method, which can solve the partially-overlapping 3D registration problem efficiently and reliably without any initial estimation. Another important characteristic of our method is that it requires no local features in the 3D data set. An extra characteristic is that, for the noiseless case, the basic algorithm ofour DARCES method can guarantee that the solution it finds is the true one, due to its exhaustive-search nature. Even with the nature of exhaustive search, its time complexity can be shown to be relatively low. Experiments have demonstrated that our method is efficient and reliable for registering partially-overlapping range images.