Range image registration based on the consistency of rigid transformation

Masaki Yoshii; Ikuko Shimizu

doi:10.1117/12.2521596

22 March 2019 Range image registration based on the consistency of rigid transformation

Masaki Yoshii, Ikuko Shimizu

Proceedings Volume 11049, International Workshop on Advanced Image Technology (IWAIT) 2019; 110490C (2019) https://doi.org/10.1117/12.2521596
Event: 2019 Joint International Workshop on Advanced Image Technology (IWAIT) and International Forum on Medical Imaging in Asia (IFMIA), 2019, Singapore, Singapore

Abstract

Range image registration is an essential technique for 3D modeling of the real world object from its range images captured by a 3D sensor. It estimates the relative positions and orientations of the viewpoints using multiple range images which are captured by the 3D sensor from multiple viewpoints. The rigid transformations to define the relative positions and orientations of the viewpoints are estimated based on the corresponding 3D points, which observe the same point on the object surface. In this paper, we propose a method for range image registration based on the consistency of the rigid transformation between corresponding point pairs to improve accuracy. We generate triplets of corresponding point pairs and evaluate the consistency because at least three corresponding point pairs are required to estimate a rigid transformation. We estimate the rigid transformation using each triplet of the corresponding point pairs and evaluate the distance between estimated rigid transformations in the parameter space. We select the triplet which have the largest number of consistent triplets and estimate the rigid transformation using the selected triplet and its consistent triplets. In the experiment, our method obtained the most accurate and the most stable registration results compared with the conventional methods, Iterative Closest Point and Globally Optimal ICP.

Citation Download Citation

Masaki Yoshii and Ikuko Shimizu "Range image registration based on the consistency of rigid transformation", Proc. SPIE 11049, International Workshop on Advanced Image Technology (IWAIT) 2019, 110490C (22 March 2019); https://doi.org/10.1117/12.2521596

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KEYWORDS

Image registration

3D image processing

3D modeling

Range image registration

Data modeling

Sensors

Clouds

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