Range Image Integration Based on 2D Shape Matching

This paper describes an integration technique of multiple range images. The range image integration is to estimate transfer parameters between two shape data, and it consists of an initial guess and a correction of the parameters. The initial guess process is based on 2D shape integration under a condition that the rotation axis of an object is parallel to one of sensor coordinate axes. After the initial guess, the transfer parameters are corrected using an iterative method. The correction makes the locational setup condition of the sensor and the object easier. This technique does not utilize geometric features but some sampled points which are free from self-occlusion; there is no constraint on the object shape. Experiments for synthesis 2D shape data and real range images show the possibility of practical use.