Object modeling by registration of multiple range images
Abstract
The problem of creating a complete model of a physical object is studied. Although this may be possible using intensity images, the authors use range images which directly provide access to three-dimensional information. The first problem that needs to be solved is to find the transformation between the different views. Previous approaches have either assumed this transformation to be known (which is extremely difficult for a complete model) or computed it with feature matching (which is not accurate enough for integration. The authors propose an approach that works on range data directly and registers successive views with enough overlapping area to get an accurate transformation between views. This is performed by minimizing a functional that does not require point-to-point matches. Details are given of the registration method and modeling procedure, and they are illustrated on range images of complex objects.>
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Point-to-plane ICP minimizes the shortest distance between a point and the tangent plane of the closest point on another surface. This allows faster tangential movement of the surfaces.
“The first of these was point-to-plane ICP.[51] minimizes the shortest distance between a point and the tangent plane of the closest point on another surface.This allows faster tangential movement of the surfaces.”
From Registration of 3D Point Clouds and Meshes: A Survey from Rigid to Nonrigid (2013) · cites this paper as [51]
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- Authors
- Chen, Y., & Medioni, G.
- Affiliations
- University of Southern California (US)
- Venue
- Proceedings. 1991 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2002-12-10
- Pages
- 2724-2729
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W1883517952
- Cited by
- 1,409
- References
- 11
- Citations by year
- 2026: 11 · 2025: 32 · 2024: 32 · 2023: 39 · 2022: 40 · 2021: 67 · 2020: 55 · 2019: 55 · 2018: 61 · 2017: 61 · 2016: 87 · 2015: 72 · 2014: 75 · 2013: 93 · 2012: 84
- FWCI
- 99.97
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- Proceedings - IEEE International Conference on Robotics and Automation/Proceedings (publishedVersion)
- Topics
- Physical Sciences › Engineering › Computational Mechanics › 3D Shape Modeling and Analysis
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Vision and Imaging
- Physical Sciences › Earth and Planetary Sciences › Geology › 3D Surveying and Cultural Heritage
- Keywords
- object modeling, depth images, multi-view registration, 3D reconstruction, functional minimization
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