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<p>A scheme is developed to register range images in an environment where distinctive features are scarce. Another issue addressed here is conflicting situations that may arise from pair-wise registration of multiple overlapping range images whether or not they contain distinctive features. There can be two causes for this: (a) error in individual registrations or (b) compression or bending in range images. The authors develop a scheme for resolving such conflicts for the case where range images share a common reference surface, i.e. when the transformation matrix between two overlapping images involves only three components: two translations and one rotation. The authors implemented this scheme to map the floor of the ocean, where the range data is obtained by a multibeam echo-sounder system installed aboard a sailing ship producing multiple overlapping range images. The system developed is the first automated system for correctly registered mapping of the ocean floor; it is efficient and robust.</p>
image registration; picture processing; pattern recognition; ocean floor mapping; multiple overlapping range images; pair-wise registration; compression; transformation matrix; data compression; pattern recognition; picture processing
B. Kamgar-Parsi, J.L. Jones, A. Rosenfeld, "Registration of Multiple Overlapping Range Images: Scenes Without Distinctive Features", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 13, no. , pp. 857-871, September 1991, doi:10.1109/34.93805
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