Registration of Range Image Using Texture of High-Resolution Color Images

We propose a novel method of modeling high quality 3D model in shape and appearance by aligning multiple view range images obtained by a range scanner and multiple view color images taken by a high-resolution color camera around the object. In the proposed method, we achieve accurate registration of range images by using texture consistency of the high-resolution color images. Our registration method consists of the following two stages. First stage of registration is done by the ICP algorithm with searching corresponding points using information of the highresolution color images. ICP algorithm is one of the registration method searching correspondence points of different range images, which greatly depends on initial position, so we improve it by using the high-resolution color images. Second stage of registration is accomplished by using difference value of the high-resolution image and the warping image. Warping image is created by viewing one data set of range image and high-resolution image from the viewpoint of another data set. Coordinate transformation is optimized to reduce differential error of high-resolution image and warping image from another viewpoint. This process drastically reduces misalignment of textures from another viewpoints on the surface of the finally reconstructed model. We present results that demonstrate our approach's ability to create realistic 3D model of the actual object.