Iterative refinement of range images with anisotropic error distribution

Ryusuke Sagawa, Takeshi Oishi, Atsushi Nakazawa, Ryo Kurazume, Katsushi Ikeuchi

Research output: Chapter in Book/Report/Conference proceedingChapter


We propose a method which refines the range measurement of range finders by computing correspondences of vertices of multiple range images acquired from various viewpoints. Our method assumes that a range image acquired by a laser range finder has anisotropic error distribution which is parallel to the ray direction. Thus, we find corresponding points of range images along with the ray direction. We iteratively converge range images to minimize the distance of corresponding points. We describe the effectiveness of our method by the presenting the experimental results of artificial and real range data. Also we show that our method refines a 3D shape more accurately as opposed to that achieved by using the Gaussian filter.

Original languageEnglish
Title of host publicationDigitally Archiving Cultural Objects
PublisherSpringer US
Number of pages13
ISBN (Print)9780387758060
Publication statusPublished - Dec 1 2008
Externally publishedYes


All Science Journal Classification (ASJC) codes

  • Computer Science(all)

Cite this

Sagawa, R., Oishi, T., Nakazawa, A., Kurazume, R., & Ikeuchi, K. (2008). Iterative refinement of range images with anisotropic error distribution. In Digitally Archiving Cultural Objects (pp. 193-205). Springer US.