The representation, recognition, and locating of 3-d objects
International Journal of Robotics Research
Least-Squares Fitting of Two 3-D Point Sets
IEEE Transactions on Pattern Analysis and Machine Intelligence
Structural Indexing: Efficient 3-D Object Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
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 comparison of four algorithms for estimating 3-D rigid transformations
BMVC '95 Proceedings of the 1995 British conference on Machine vision (Vol. 1)
Optimal Registration of Object Views Using Range Data
IEEE Transactions on Pattern Analysis and Machine Intelligence
Simultaneous registration of multiple range views for use in reverse engineering of CAD models
Computer Vision and Image Understanding - Special issue on CAD-based computer vision
The Geometry of Algorithms with Orthogonality Constraints
SIAM Journal on Matrix Analysis and Applications
IEEE Transactions on Pattern Analysis and Machine Intelligence
The digital Michelangelo project: 3D scanning of large statues
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Simultaneous registration of multiple corresponding point sets
Computer Vision and Image Understanding
Linear combination of transformations
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Analysis of 3-D Rotation Fitting
IEEE Transactions on Pattern Analysis and Machine Intelligence
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
Surface registration by matching oriented points
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
A Fast Automatic Method for Registration of Partially-Overlapping Range Images
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Multiview registration for large data sets
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Multiview registration of 3D scenes by minimizing error between coordinate frames
IEEE Transactions on Pattern Analysis and Machine Intelligence
Reassembling fractured objects by geometric matching
ACM SIGGRAPH 2006 Papers
Global non-rigid alignment of 3-D scans
ACM SIGGRAPH 2007 papers
PriMo: coupled prisms for intuitive surface modeling
SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing
SGP '07 Proceedings of the fifth Eurographics symposium on Geometry processing
Bayesian surface reconstruction via iterative scan alignment to an optimized prototype
SGP '07 Proceedings of the fifth 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
Multi-sensor calibration through iterative registration and fusion
Computer-Aided Design
Study of parameterizations for the rigid body transformations of the scan registration problem
Computer Vision and Image Understanding
A multi-view extension of the ICP algorithm
Proceedings of the Seventh Indian Conference on Computer Vision, Graphics and Image Processing
Online loop closure for real-time interactive 3D scanning
Computer Vision and Image Understanding
Three-View shape recovery and incremental registration of 3d point sets
ICIC'06 Proceedings of the 2006 international conference on Intelligent Computing - Volume Part I
Putting the pieces together: regularized multi-part shape matching
ECCV'12 Proceedings of the 12th international conference on Computer Vision - Volume Part I
Stratified Generalized Procrustes Analysis
International Journal of Computer Vision
Fully Automatic Registration of Image Sets on Approximate Geometry
International Journal of Computer Vision
Bayesian perspective for the registration of multiple 3D views
Computer Vision and Image Understanding
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We propose a novel algorithm to register multiple 3D point sets within a common reference frame using a manifold optimization approach. The point sets are obtained with multiple laser scanners or a mobile scanner. Unlike most prior algorithms, our approach performs an explicit optimization on the manifold of rotations, allowing us to formulate the registration problem as an unconstrained minimization on a constrained manifold. This approach exploits the Lie group structure of SO3 and the simple representation of its associated Lie algebra so3 in terms of R3. Our contributions are threefold. We present a new analytic method based on singular value decompositions that yields a closed-form solution for simultaneous multiview registration in the noise-free scenario. Secondly, we use this method to derive a good initial estimate of a solution in the noise-free case. This initialization step may be of use in any general iterative scheme. Finally, we present an iterative scheme based on Newton's method on SO3 that has locally quadratic convergence. We demonstrate the efficacy of our scheme on scan data taken both from the Digital Michelangelo project and from scans extracted from models, and compare it to some of the other well known schemes for multiview registration. In all cases, our algorithm converges much faster than the other approaches, (in some cases orders of magnitude faster), and generates consistently higher quality registrations.