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From Accurate Range Imaging Sensor Calibration to Accurate Model-Based 3D Object Localization

Guillaume Champleboux, Stéphane Lavallée, Richard Szeliski, Lionel Brunie
CVPR 1992 pp. 83-89
doi:10.1109/CVPR.1992.223223 /cvpr/1992/champleboux1992cvpr-accurate/

Abstract

The registration of multiple 3D data sets obtained with a laser range finder is examined. A sensor calibration technique based on the conjunction of a mathematical camera model, the N-planes B-spline (NPBS), with an accurate mechanical calibration setup, is proposed. An algorithm for recovering the rigid transformation (rotation and translation) between the two sets of 3D coordinates obtained by the calibrated imaging range sensor is developed. Its input is sets of points lying on the surface of the object. This input is converted into an octree-spline that allows point-to-surface distances to be computed quickly. A robust nonlinear least-squares minimization technique then finds the optimal pose by minimizing the sum of square distances between the two sets of 3D coordinates. The algorithm has been applied to matching human faces with highly accurate results.< <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

Champleboux et al. "From Accurate Range Imaging Sensor Calibration to Accurate Model-Based 3D Object Localization." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1992. doi:10.1109/CVPR.1992.223223

Markdown

[Champleboux et al. "From Accurate Range Imaging Sensor Calibration to Accurate Model-Based 3D Object Localization." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1992.](https://mlanthology.org/cvpr/1992/champleboux1992cvpr-accurate/) doi:10.1109/CVPR.1992.223223

BibTeX

@inproceedings{champleboux1992cvpr-accurate,
  title     = {{From Accurate Range Imaging Sensor Calibration to Accurate Model-Based 3D Object Localization}},
  author    = {Champleboux, Guillaume and Lavallée, Stéphane and Szeliski, Richard and Brunie, Lionel},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {1992},
  pages     = {83-89},
  doi       = {10.1109/CVPR.1992.223223},
  url       = {https://mlanthology.org/cvpr/1992/champleboux1992cvpr-accurate/}
}