On Averaging Multiview Relations for 3D Scan Registration

Govindu, Venu Madhav and Pooja, A (2014) On Averaging Multiview Relations for 3D Scan Registration. In: IEEE TRANSACTIONS ON IMAGE PROCESSING, 23 (3). pp. 1289-1302.

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Abstract

In this paper, we present an extension of the iterative closest point (ICP) algorithm that simultaneously registers multiple 3D scans. While ICP fails to utilize the multiview constraints available, our method exploits the information redundancy in a set of 3D scans by using the averaging of relative motions. This averaging method utilizes the Lie group structure of motions, resulting in a 3D registration method that is both efficient and accurate. In addition, we present two variants of our approach, i.e., a method that solves for multiview 3D registration while obeying causality and a transitive correspondence variant that efficiently solves the correspondence problem across multiple scans. We present experimental results to characterize our method and explain its behavior as well as those of some other multiview registration methods in the literature. We establish the superior accuracy of our method in comparison to these multiview methods with registration results on a set of well-known real datasets of 3D scans.

Item Type:	Journal Article
Publication:	IEEE TRANSACTIONS ON IMAGE PROCESSING
Publisher:	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Additional Information:	copyright for this article belongs to IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA
Keywords:	3D scan registration; ICP; multiview geometry
Department/Centre:	Division of Electrical Sciences > Electrical Engineering
Date Deposited:	26 Mar 2014 07:37
Last Modified:	26 Mar 2014 07:39
URI:	http://eprints.iisc.ac.in/id/eprint/48714

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