Method for automatic registration using real-time multiview range images

Makoto Hirose; Hidenori Furuhashi; Naoshi Kitamura; Kazuo Araki

doi:10.1117/12.444180

5 October 2001 Method for automatic registration using real-time multiview range images

Makoto Hirose, Hidenori Furuhashi, Naoshi Kitamura, Kazuo Araki

Proceedings Volume 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision; (2001) https://doi.org/10.1117/12.444180
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

This paper describes a method for automatic registration of real-time multi-view range images obtained under the condition free from any artificial restriction. Firstly, we derive affine transformation matrix, which gives mutual position relationship between two consecutive range images, from automatically extracted four corresponding points between them. Then, concatenating thus derived affine transformation matrices in order, we make registration all range images by transforming them to one coordinate system of arbitrary chosen range image. In extracting four corresponding points automatically, we utilize four cross points between four real and/or virtual planes extracted from extended gaussian-image of the target. As a result, we could reduce error and computational cost and realize automatic registration.

Citation Download Citation

Makoto Hirose, Hidenori Furuhashi, Naoshi Kitamura, and Kazuo Araki "Method for automatic registration using real-time multiview range images", Proc. SPIE 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision, (5 October 2001); https://doi.org/10.1117/12.444180

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