Range Image Registration via Probability Field

Authors:
Haitao Zhang;Olaf Hall-Holt;Arie Kaufman
Affiliations:
State University of New York at Stony Brook;State University of New York at Stony Brook;State University of New York at Stony Brook
Venue:
CGI '04 Proceedings of the Computer Graphics International
Year:
2004

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ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I

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Abstract

This paper presents a powerful variant of the ICP (IterativeClosest Point) algorithm for registering range imagesusing a probability field. The probability field (p-field) representsthe probability distribution of the surface position.By capitalizing on the properties of the range image, fastconstruction, compact representation, and efficient query ofthe p-field can be achieved. Different sensor models aresupported by the p-field according to the properties of therange image. Range images can be precisely aligned bymaximizing the probability of overlapping surfaces via thep-field.