Registration of Multiple Range Viewsusing

In this paper we propose a new registration algorithm. The proposed algorithm consists of two steps. The rst step is to estimate the transformation parameters among multiple range views, making use of the eigenvectors of the weighted covariance matrix of the 3-D coordinates of data points. The weighting factors are carefully selected to take into account the projection e ect caused by di erent viewpoints. The next step is to register the views iteratively with the estimated transformation parameters as initial values. To solve the correspondence problem, the reverse calibration technique is used, which is adapted to the space encoding range nder. The object function, de ned by means of the reverse calibration technique, is minimized iteratively. Experimental results show that the proposed algorithm is very fast and e cient.