RANSAC-based DARCES: a new approach to fast automatic registration of partially overlapping range images
Abstract
In this paper, we propose a new method, the RANSAC-based DARCES method (data-aligned rigidity-constrained exhaustive search based on random sample consensus), which can solve the partially overlapping 3D registration problem without any initial estimation. For the noiseless case, the basic algorithm of our method can guarantee that the solution it finds is the true one, and its time complexity can be shown to be relatively low. An extra characteristic is that our method can be used even for the case that there are no local features in the 3D data sets.
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RANSAC-based DARCES [47] uses distance-preserving constraint to enumerate and test three pairs of correspondences in a sphere to limit the transformation search space.
“RANSAC-based DARCES [47] uses distance-preserving constraint to enumerate and test three pairs of correspondences in a sphere to limit the transformation search space.”
From Registration of 3D Point Clouds and Meshes: A Survey from Rigid to Nonrigid (2013) · cites this paper as [47]
Cites
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Self-citationA fast automatic method for registration of partially-overlapping range images
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Registration of 3D Point Clouds and Meshes: A Survey from Rigid to Nonrigid
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A new method for the registration of three-dimensional point-sets: The Gaussian Fields framework
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- Authors
- Chen, C.-S., Hung, Y.-P., & Cheng, J.-B.
- Affiliations
- Institute of Information Science, Academia Sinica (TW)
- Academia Sinica (TW)
- Venue
- IEEE Transactions on Pattern Analysis and Machine Intelligence
- Published
- 1999
- Volume
- 21
- Issue
- 11
- Pages
- 1229-1234
- ISSN
- 0162-8828 (ISSN-L)
- OpenAlex
- W2066863160
- Cited by
- 356
- References
- 10
- Citations by year
- 2026: 10 · 2025: 9 · 2024: 7 · 2023: 8 · 2022: 13 · 2021: 14 · 2020: 12 · 2019: 13 · 2018: 14 · 2017: 18 · 2016: 20 · 2015: 18 · 2014: 10 · 2013: 13 · 2012: 9
- FWCI
- 6.19
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Pattern Analysis and Machine Intelligence (publishedVersion)
- Funders
- National Science Council
- Topics
- Physical Sciences › Engineering › Computational Mechanics › 3D Shape Modeling and Analysis
- Physical Sciences › Engineering › Aerospace Engineering › Robotics and Sensor-Based Localization
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Vision and Imaging
- Keywords
- 3D registration, depth images, RANSAC, rigid transformation estimation, exhaustive search, time complexity
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