TY - GEN
T1 - Fast simultaneous alignment of multiple range images using index images
AU - Oishi, Takeshi
AU - Kurazume, Ryo
AU - Nakazawa, Atsushi
AU - Ikeuchi, Katsushi
N1 - Copyright:
Copyright 2014 Elsevier B.V., All rights reserved.
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=33751365830&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33751365830&partnerID=8YFLogxK
U2 - 10.1109/3DIM.2005.41
DO - 10.1109/3DIM.2005.41
M3 - Conference contribution
AN - SCOPUS:33751365830
SN - 0769523277
SN - 9780769523279
T3 - Proceedings of International Conference on 3-D Digital Imaging and Modeling, 3DIM
SP - 476
EP - 483
BT - Proceedings - 5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005
T2 - 5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005
Y2 - 13 June 2005 through 16 June 2005
ER -