Multiple View Registration of Range Data Using Signature Search
نویسندگان
چکیده
This paper presents a novel practical solution for registering a set of partially overlapping range images of an arbitrary scene. It was developed for application in remote telerobotic operation in unstructured environments. The method is based on simple matching of 2-D range profiles extracted from two images. It handles all six degrees of freedom and does not rely on any particular geometric properties in the scene content. It can be used for combining multiple views of a scene taken from different viewing directions to fill in surfaces that are otherwise occluded. It can also be used for registering adjacent images to build up a mosaic from patches of a larger scene.
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