Principal Warps: Thin-Plate Splines and the Decomposition of Deformations
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Object modelling by registration of multiple range images
Image and Vision Computing - Special issue: range image understanding
Towards a General Multi-View Registration Technique
IEEE Transactions on Pattern Analysis and Machine Intelligence
A volumetric method for building complex models from range images
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
International Journal of Computer Vision
The digital Michelangelo project: 3D scanning of large statues
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
A Solution for the Registration of Multiple 3D Point Sets Using Unit Quaternions
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
Geometrical cloning of 3D objects via simultaneous registration of multiple range images
SMA '97 Proceedings of the 1997 International Conference on Shape Modeling and Applications (SMA '97)
The space of human body shapes: reconstruction and parameterization from range scans
ACM SIGGRAPH 2003 Papers
A new point matching algorithm for non-rigid registration
Computer Vision and Image Understanding - Special issue on nonrigid image registration
Non-Rigid Range-Scan Alignment Using Thin-Plate Splines
3DPVT '04 Proceedings of the 3D Data Processing, Visualization, and Transmission, 2nd International Symposium
Proceedings of the 2004 Eurographics/ACM SIGGRAPH symposium on Geometry processing
Efficiently combining positions and normals for precise 3D geometry
ACM SIGGRAPH 2005 Papers
A Robust Algorithm for Point Set Registration Using Mixture of Gaussians
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
Reassembling fractured objects by geometric matching
ACM SIGGRAPH 2006 Papers
Total least squares fitting of point sets in m-D
CGI '05 Proceedings of the Computer Graphics International 2005
Global registration of multiple 3D point sets via optimization-on-a-manifold
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
Multi-scale features for approximate alignment of point-based surfaces
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
An extension of the ICP algorithm for modeling nonrigid objects with mobile robots
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Multiview registration for large data sets
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Building a digital model of Michelangelo's Florentine Pieta
IEEE Computer Graphics and Applications
Multilevel streaming for out-of-core surface reconstruction
SGP '07 Proceedings of the fifth Eurographics symposium on Geometry processing
SGP '07 Proceedings of the fifth Eurographics symposium on Geometry processing
4-points congruent sets for robust pairwise surface registration
ACM SIGGRAPH 2008 papers
Möbius voting for surface correspondence
ACM SIGGRAPH 2009 papers
Robust single-view geometry and motion reconstruction
ACM SIGGRAPH Asia 2009 papers
Parallel Poisson Surface Reconstruction
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Streaming surface reconstruction using wavelets
SGP '08 Proceedings of the Symposium on Geometry Processing
Global correspondence optimization for non-rigid registration of depth scans
SGP '08 Proceedings of the Symposium on Geometry Processing
Non-rigid registration under isometric deformations
SGP '08 Proceedings of the Symposium on Geometry Processing
Automatic registration for articulated shapes
SGP '08 Proceedings of the Symposium on Geometry Processing
Free form shape registration using the barrier method
Computer Vision and Image Understanding
Single viewpoint model completion of symmetric objects for digital inspection
Computer Vision and Image Understanding
ACM SIGGRAPH 2011 papers
Facial cartography: interactive scan correspondence
SCA '11 Proceedings of the 2011 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Temporally coherent completion of dynamic shapes
ACM Transactions on Graphics (TOG)
Non-rigid shape matching using geometry and photometry
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part III
Finding Surface Correspondences Using Symmetry Axis Curves
Computer Graphics Forum
Non-rigid shape registration: a single linear least squares framework
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part VII
A benchmark for surface reconstruction
ACM Transactions on Graphics (TOG)
Transformed polynomials for global registration of point clouds
Proceedings of the 27th Spring Conference on Computer Graphics
Dense scene reconstruction with points of interest
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
MeshGit: diffing and merging meshes for polygonal modeling
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
ACM Transactions on Graphics (TOG)
Diffusion pruning for rapidly and robustly selecting global correspondences using local isometry
ACM Transactions on Graphics (TOG)
Mesh saliency via spectral processing
ACM Transactions on Graphics (TOG)
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A key challenge in reconstructing high-quality 3D scans is registering data from different viewpoints. Existing global (multiview) alignment algorithms are restricted to rigid-body transformations, and cannot adequately handle non-rigid warps frequently present in real-world datasets. Moreover, algorithms that can compensate for such warps between pairs of scans do not easily generalize to the multiview case. We present an algorithm for obtaining a globally optimal alignment of multiple overlapping datasets in the presence of low-frequency non-rigid deformations, such as those caused by device nonlinearities or calibration error. The process first obtains sparse correspondences between views using a locally weighted, stability-guaranteeing variant of iterative closest points (ICP). Global positions for feature points are found using a relaxation method, and the scans are warped to their final positions using thin-plate splines. Our framework efficiently handles large datasets---thousands of scans comprising hundreds of millions of samples---for both rigid and non-rigid alignment, with the non-rigid case requiring little overhead beyond rigid-body alignment. We demonstrate that, relative to rigid-body registration, it improves the quality of alignment and better preserves detail in 3D datasets from a variety of scanners exhibiting non-rigid distortion.