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<p><b>Abstract</b>—This paper deals with robust registration of object views in the presence of uncertainties and noise in depth data. Errors in registration of multiple views of a 3D object severely affect view integration during automatic construction of object models. We derive a minimum variance estimator (MVE) for computing the view transformation parameters accurately from range data of two views of a 3D object. The results of our experiments show that view transformation estimates obtained using MVE are significantly more accurate than those computed with an unweighted error criterion for registration.</p>
Image registration, view transformation estimation, view integration, automatic object modeling, 3D free-form objects, range data.

J. Weng, C. Dorai and A. K. Jain, "Optimal Registration of Object Views Using Range Data," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 19, no. , pp. 1131-1138, 1997.
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