Registration and integration of textured 3D data

摘要

In general, multiple views are required to create a complete 3D model of an object or of a multi-roomed indoor scene. In this work, we address the problem of merging multiple textured 3D data sets, each of which corresponds to a different view of a scene. There are two steps to the merging process: registration and integration. To register, or align, data sets we use a modified version of the iterative closest point (ICP) algorithm; our version, which we call color ICP, considers not only 3D information, but color as well. We show that the use of color decreases registration error significantly when using omnidirectional stereo data sets. Once the 3D data sets have been registered, we integrate them to produce a seamless, composite 3D textured model. Our approach to integration uses a 3D occupancy grid to represent likelihood of spatial occupancy through voting. In addition to occupancy information, we store surface normal in each voxel of the occupancy grid. Surface normal is used to robustly extract a surface from the occupancy grid; on that surface we blend textures from multiple views.