Title: Automatic Scan Registration Using 3D Linear and Planar Features
Citation: 3D Research vol. 1 no. 3 p. 1-18
Publisher: Springer
Publication Year: 2010
JRC N°: JRC60631
ISSN: 2092-6731
URI: http://publications.jrc.ec.europa.eu/repository/handle/JRC60631
DOI: 10.1007/3DRes.0306
Type: Articles in periodicals and books
Abstract: We present a common framework for accurate and automatic registration of two geometrically complex 3D range scans by using linear or planar features. The linear features of a range scan are extracted with an efficient split-and-merge line-fitting algorithm, which refines 2D edges extracted from the associated reflectance image considering the corresponding 3D depth information. The planar features are extracted employing a robust planar segmentation method, which partitions a range image into a set of planar patches. We propose an efficient probability-based RANSAC algorithm to automatically register two overlapping range scans. Our algorithm searches for matching pairs of linear (planar) features in the two range scans leading to good alignments. Line orientation (plane normal) angles and line (plane) distances formed by pairs of linear (planar) features are invariant with respect to rigid transformation and are utilized to find candidate matches. To efficiently seek for candidate pairs and groups of matching features we build a fast search codebook. Given two sets of matched features, the rigid transformation between two scans is computed by using an iterative linear optimization algorithms. The efficiency and accuracy of our registration algorithm is shown on several challenging range data sets.
JRC Directorate:Space, Security and Migration

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