一种快速的三维扫描数据自动配准方法.PDFVIP

ISSN 1000-9825, CODEN RUXUEW E-mail: jos@ Journal of Software , Vol.21, No.6, June 2010, pp.1438− 1450 doi: 10.3724/SP.J.1001.2010.03543 Tel/Fax: +86-10 © by Institute of Software , the Chinese Academy of Sciences . All rights reserved. ∗ + , , , ( , 100191) Rapid and Automatic Method for 3D Scanned Data Registration + YANG Shen , QI Yue, SHEN Xu-Kun, ZHAO Qin-Ping (State Key Laboratory of Virtual Reality Technology and Systems, BeiHang University, Beijing 100191, China) + Corresponding author: E-mail: sheen.young@, Yang S, Qi Y, Shen XK, Zhao QP. Rapid and automatic method for 3D scanned data registration. Journal of Software, 2010,21(6):1338−1450. /1000-9825/3543.htm Abstract : This paper presents a rapid method to align large sets of 3D scanned data automatically. The method incorporates the technique of image registration into the pair-wise registration. Firstly, it retrieves two texture images from the scanned data to align. A method is proposed to generate the texture image from the range image when scanned data do not contain the texture information. Secondly, it detects the features using SIFT (scale-invariant feature transform) on texture images, and a set of potential corresponding pixels is selected by means of pre-filter and cross validation. Then a matching algorithm, based on RANSAC (random sample consensus) algorithm, is applied to specify the matching pixel pairs between two images. All matches obtained are mapped to 3D space and used to estimate the rigid transformation. Finally, a modified ICP (iterative closest point) algorithm is applied