Fast simultaneous alignment of multiple range images using index images

Takeshi Oishi, Ryo Kurazume, Atsushi Nakazawa, Katsushi Ikeuchi

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

28 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 languageEnglish
Title of host publicationProceedings - 5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005
Pages476-483
Number of pages8
DOIs
Publication statusPublished - Dec 1 2005
Event5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005 - Ottawa, ON, Canada
Duration: Jun 13 2005Jun 16 2005

Publication series

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

Other

Other5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005
CountryCanada
CityOttawa, ON
Period6/13/056/16/05

Fingerprint

Sensors
Conjugate gradient method
Linear equations
Calibration
Hardware
Lasers

All Science Journal Classification (ASJC) codes

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

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). [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; Ikeuchi, Katsushi.

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