Simultaneous entire shape registration of multiple depth images using depth difference and shape silhouette

Takuya Ushinohama, Yosuke Sawai, Satoshi Ono, Hiroshi Kawasaki

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper proposes a method for simultaneous global registration of multiple depth images which are obtained from multiple viewpoints. Unlike the previous method, the proposed method fully utilizes a silhouette-based cost function taking out-of-view and non-overlapping regions into account as well as depth differences at overlapping areas. With the combination of the above cost functions and a recent powerful meta-heuristics named self-adaptive Differential Evolution, it realizes the entire shape reconstruction from relatively small number (three or four) of depth images, which do not involve enough overlapping regions for Iterative Closest Point even if they are prealigned. In addition, to allow the technique to be applicable not only to time-of-flight sensors, but also projector-camera systems, which has deficient silhouette by occlusions, we propose a simple solution based on color-based silhouette. Experimental results show that the proposed method can reconstruct the entire shape only from three depth images of both synthetic and real data. The influence of noises and inaccurate silhouettes is also evaluated.

Original languageEnglish
Title of host publicationComputer Vision - ACCV 2014 - 12th Asian Conference on Computer Vision, Revised Selected Papers
EditorsMing-Hsuan Yang, Hideo Saito, Daniel Cremers, Ian Reid
PublisherSpringer Verlag
Number of pages16
ISBN (Print)9783319168074
Publication statusPublished - 2015
Externally publishedYes
Event12th Asian Conference on Computer Vision, ACCV 2014 - Singapore, Singapore
Duration: Nov 1 2014Nov 5 2014

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other12th Asian Conference on Computer Vision, ACCV 2014

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • General Computer Science


Dive into the research topics of 'Simultaneous entire shape registration of multiple depth images using depth difference and shape silhouette'. Together they form a unique fingerprint.

Cite this