Planar structure based registration of multiple range images

Daiju Watanabe, Hideo Saito

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, we describe the method for aligning multiple range images given by a range finder. Especially we will use range images of inside and outside of buildings which contain many planar structures. In our method for registration of range images, we consider not only 3D positions of range data but normal vectors of planes in the scene in order to refine the ICP (Iterative Closest Point) algorithm. First, we extract planes of range images in order to calculate normal vectors of planes in the scene. Then, we estimate the motion parameters that are composed of a rotation matrix and a translation vector using our refined ICP algorithm. We present results that demonstrate our approach's ability to align range images more accurately and faster than the standard ICP algorithm.

Original languageEnglish
Title of host publicationProceedings - 18th International Conference on Pattern Recognition, ICPR 2006
Pages689-692
Number of pages4
DOIs
Publication statusPublished - 2006 Dec 1
Event18th International Conference on Pattern Recognition, ICPR 2006 - Hong Kong, China
Duration: 2006 Aug 202006 Aug 24

Publication series

NameProceedings - International Conference on Pattern Recognition
Volume3
ISSN (Print)1051-4651

Other

Other18th International Conference on Pattern Recognition, ICPR 2006
CountryChina
CityHong Kong
Period06/8/2006/8/24

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

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  • Cite this

    Watanabe, D., & Saito, H. (2006). Planar structure based registration of multiple range images. In Proceedings - 18th International Conference on Pattern Recognition, ICPR 2006 (pp. 689-692). [1699619] (Proceedings - International Conference on Pattern Recognition; Vol. 3). https://doi.org/10.1109/ICPR.2006.935