Registration of multiple-range views using the reverse-calibration technique

摘要

In this paper we propose a new registration algorithm. The proposed algorithm consists of two steps. The first step is to estimate the transformation parameters among multiple range views, making use of the eigenvectors of the weighted covariance matrix of the 3-D coordinates of data points. The weighting factors are carefully selected to take into account the projection effect caused by different viewpoints. The next step is to register the views iteratively with the estimated transformation parameters as initial values. To solve the correspondence problem, the reverse calibration technique is used, which is adapted to the space-encoding range finder. The object function, defined by means of the reverse calibration technique, is minimized iteratively. Experimental results show that the proposed algorithm is very fast and efficient.