Automatic registration of color images to 3D geometry
Proceedings of the 2009 Computer Graphics International Conference
Principles of Appearance Acquisition and Representation
Foundations and Trends® in Computer Graphics and Vision
Fast and robust semi-automatic registration of photographs to 3D geometry
VAST'11 Proceedings of the 12th International conference on Virtual Reality, Archaeology and Cultural Heritage
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We describe an approach for automatically registering color images with 3D laser scanned models. We use the chi-square statistic to compare color images to polygonal models texture mapped with acquired laser reflectance values. In complicated scenes we find that the chi-square test is not robust enough to permit an automatic global registration approach. Therefore, we introduce two techniques for obtaining initial pose estimates that correspond to a coarse alignment of the data. The first method is based on rigidly attaching a camera to a laser scanner and the second utilizes object tracking to decouple these imaging devices. The pose estimates serve as an initial guess for our optimization method, which maximizes the chi-square statistic over a local space of transformations in order to automatically determine the proper alignment.