RANSAC-Based DARCES: A New Approach to Fast Automatic Registration of Partially Overlapping Range Images
November 1999 (vol. 21 no. 11)
pp. 1229-1234
DOI Bookmark:
http://doi.ieeecomputersociety.org/10.1109/34.809117
Abstract—In this paper, we propose a new method, the RANSAC-based DARCES method, which can solve the partially overlapping 3D registration problem without any initial estimation. For the noiseless case, the basic algorithm of our method can guarantee that the solution it finds is the true one, and its time complexity can be shown to be relatively low. An extra characteristic is that our method can be used even for the case that there are no local features in the 3D data sets. [1] P.J. Besl and N.D. McKay, "A Method for Registration of 3D Shapes," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 14, no. 2, pp. 239-256, Feb. 1992.[2] G. Blais and M. D. Levine, "Registering Multiview Range Data to Create 3D Computer Objects," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 17, no. 8, pp. 820-824, Aug. 1995,.[3] C.S. Chen et al., “A Fast Automatic Method for Registration of Partially-Overlapping Range Images” Proc. Int'l Conf. Computer Vision, Bombay, India, pp. 242-248, 1998.[4] C.S. Chen et al., “Range Data Acquisition Using Color Structured Lighting and Stereo Vision,” Image and Vision Computing, vol. 15, pp. 445-456, 1997.[5] C.S. Chen et al.,ftp.iis.sinica.edu.tw/pub/paperDARCES.ps (anonymous ftp).[6] Y. Chen and G. Medioni, “Object Modeling from Multiple Range Images,” Image and Vision Computing, vol. 10, no. 3, pp. 145-155, Apr. 1992.[7] C.S. Chua, “3D Free-Form Surface Registration and Object Recognition,” Int'l J. Computer Vision, vol. 17, pp. 77-99, 1996.[8] C. Dorai, G. Wang, A.K. Jain, and C. Mercer, “Registration and Integration of Multiple Object Views for 3D Model Construction,” IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 20, no. 1, pp. 83-89, Jan. 1998.[9] K. Higuchi, M. Hebert, and K. Ikeuchi, “Building 3-D Models from Unregistered Range Images,” Graphical Models and Image Processing, vol. 57, no. 4, pp. 315-333, July 1995.[10] F. Stein and G. Medioni, “Structural Indexing: Efficient 3-D Object Recognition,” IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 14, no. 2, pp. 125–145, 1992.[11] G. Turk and M. Levoy, “Zippered Polygon Meshes from Range Images,” Proc. SIGGRAPH '94, pp. 311-318, 1994.
Index Terms:
Computer vision, range data, range image, registration, 3D imaging.
Citation:
Chu-Song Chen, Yi-Ping Hung, Jen-Bo Cheng, "RANSAC-Based DARCES: A New Approach to Fast Automatic Registration of Partially Overlapping Range Images," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 21, no. 11, pp. 1229-1234, Nov. 1999, doi:10.1109/34.809117
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