ML Anthology

Registration of Multiple Overlapping Range Images: Scenes Without Distinctive Features

Behzad Kamgar-Parsi, Jeffrey L. Jones, Azriel Rosenfeld
CVPR 1989 pp. 282-290
doi:10.1109/CVPR.1989.37862 /cvpr/1989/kamgarparsi1989cvpr-registration/

Abstract

A scheme is developed to match range images in an environment where distinctive features are scarce. When each image overlaps with several other images, the match must also be performed at the global level. This is particularly challenging, because of the possibility of bending and compression in range images. The primitives used for local matching contours of constant range which are extracted from data are represented by means of a modified chain-code method. All best matches of pairs of contours are considered tentative until their geometrical implications are evaluated and a consistent majority has emerged. To do global matching a cost function is constructed and minimized. Terms contributing to the cost include violation of local matches as well as compression and bending in range images. The present global scheme is valid for any set of multiple overlapping range images, whether they contain distinctive features or not. This scheme has been used to map the floor of the ocean, where the range data are obtained by a multibeam echo-sounder system.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

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Cite

Text

Kamgar-Parsi et al. "Registration of Multiple Overlapping Range Images: Scenes Without Distinctive Features." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1989. doi:10.1109/CVPR.1989.37862

Markdown

[Kamgar-Parsi et al. "Registration of Multiple Overlapping Range Images: Scenes Without Distinctive Features." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1989.](https://mlanthology.org/cvpr/1989/kamgarparsi1989cvpr-registration/) doi:10.1109/CVPR.1989.37862

BibTeX

@inproceedings{kamgarparsi1989cvpr-registration,
  title     = {{Registration of Multiple Overlapping Range Images: Scenes Without Distinctive Features}},
  author    = {Kamgar-Parsi, Behzad and Jones, Jeffrey L. and Rosenfeld, Azriel},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {1989},
  pages     = {282-290},
  doi       = {10.1109/CVPR.1989.37862},
  url       = {https://mlanthology.org/cvpr/1989/kamgarparsi1989cvpr-registration/}
}