NDLI: Robust range image registration using 3D lines

Content Provider	IEEE Xplore Digital Library
Author	Jian Yao Ruggeri, M.R. Taddei, P. Sequeira, V.
Copyright Year	2010
Description	Author affiliation: European Commission - Joint Research Centre (JRC), Via E. Fermi, 2749, I-21027 Ispra (VA), Italy (Jian Yao; Ruggeri, M.R.; Taddei, P.; Sequeira, V.)
Abstract	We present an efficient method for accurate automatic registration of two geometrically complex 3D range scans by using 3D lines. We first detect edges from the associated 2D reflectance images and collect 3D edge contours by only taking into account valid foreground points. Then we use an efficient split-and-merge line fitting algorithm to detect 3D lines. We build a fast search codebook to efficiently match the two sets of 3D lines. This is done by computing the orientation angle and distance of pairs of 3D lines in each set, both of which are invariant under rigid transformations. Finally we recover the rigid transformation between two scans using an efficient RANSAC algorithm with robust transformation estimation that exploits two sets of corresponding 3D lines. We conclude presenting experimental results that demonstrate efficiency and accuracy of our proposed method.
Starting Page	4321
Ending Page	4324
File Size	594267
Page Count	4
File Format	PDF
ISBN	9781424479924
ISSN	15224880
e-ISBN	9781424479948
e-ISBN	9781424479931
DOI	10.1109/ICIP.2010.5652449
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-09-26
Publisher Place	Hong Kong
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image edge detection Three dimensional displays Feature extraction Robustness Accuracy Estimation Iterative closest point algorithm range image registration Line matching
Content Type	Text
Resource Type	Article

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