Fast simultaneous alignment of multiple range images using index images

Takeshi Oishi; Ryo Kurazume; Atsushi Nakazawa; Katsushi Ikeuchi

doi:10.1109/3DIM.2005.41

Fast simultaneous alignment of multiple range images using index images

Takeshi Oishi, Ryo Kurazume, Atsushi Nakazawa, Katsushi Ikeuchi

Real world robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

37 Citations (Scopus)

Abstract

This paper describes a fast and easy-to-use simultaneous alignment method of multiple range images. The most time consuming part of alignment process is searching corresponding points. Although "Inverse calibration" method quickly searches corresponding points in complexity O(n), where n is the number of vertices, the method requires some look-up tables or precise sensors parameters. Then, we propose an easy-to-use method that uses "Index Image": "Index image " can be rapidly created using graphics hardware without precise sensor's parameters. For fast computation of rigid transformation matrices of a large number of range images, we utilized linearized error function and applied incomplete Cholesky conjugate gradient (ICCG) method for solving linear equations. Some experimental results that aligned a large number of range images measured with laser range sensors show the effectiveness of our method.

Original language	English
Title of host publication	Proceedings - 5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005
Pages	476-483
Number of pages	8
DOIs	https://doi.org/10.1109/3DIM.2005.41
Publication status	Published - 2005
Event	5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005 - Ottawa, ON, Canada Duration: Jun 13 2005 → Jun 16 2005

Publication series

Name	Proceedings of International Conference on 3-D Digital Imaging and Modeling, 3DIM
ISSN (Print)	1550-6185

Other

Other	5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005
Country/Territory	Canada
City	Ottawa, ON
Period	6/13/05 → 6/16/05

All Science Journal Classification (ASJC) codes

Computer Graphics and Computer-Aided Design
Computer Science Applications
Computer Vision and Pattern Recognition

Access to Document

10.1109/3DIM.2005.41

Cite this

Oishi, T., Kurazume, R., Nakazawa, A., & Ikeuchi, K. (2005). Fast simultaneous alignment of multiple range images using index images. In Proceedings - 5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005 (pp. 476-483). Article 1443281 (Proceedings of International Conference on 3-D Digital Imaging and Modeling, 3DIM). https://doi.org/10.1109/3DIM.2005.41

Fast simultaneous alignment of multiple range images using index images. / Oishi, Takeshi; Kurazume, Ryo; Nakazawa, Atsushi et al.
Proceedings - 5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005. 2005. p. 476-483 1443281 (Proceedings of International Conference on 3-D Digital Imaging and Modeling, 3DIM).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Oishi, T, Kurazume, R, Nakazawa, A & Ikeuchi, K 2005, Fast simultaneous alignment of multiple range images using index images. in Proceedings - 5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005., 1443281, Proceedings of International Conference on 3-D Digital Imaging and Modeling, 3DIM, pp. 476-483, 5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005, Ottawa, ON, Canada, 6/13/05. https://doi.org/10.1109/3DIM.2005.41

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Fast simultaneous alignment of multiple range images using index images

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