Area-Based Matching for Simultaneous Registration of Multiple 3-D Profile Maps

摘要

We propose an area-based method for the simultaneous registration of multiple 3-D data sets without known correspondences when a rough initial registration is known. The method is applicable to data sets which can be represented as single valued parametric surfaces. We introduce such a representation called a 3-D profile map for the data acquired by light striping. During registration, the relative orientations of the profile maps measured from different viewpoints are iteratively refined by matching the parametric surfaces in the overlapping areas in the sense that the mean of the squares of weighted distances between the surfaces is minimized. Incompatible matches are rejected by an adaptive weighting function and the minimization task is solved simultaneously for all the maps. Hierarchical techniques are utilized in order to better localize a global minimum and to speed up the processing. The computational operations are formulated using the notation of an image algebra and realized in a parallel manner thus reducing further the computation time. Test results are shown with real data.