TY - GEN
T1 - Robust simultaneous 3D registration via rank minimization
AU - Thomas, Diego
AU - Matsushita, Yasuyuki
AU - Sugimoto, Akihiro
PY - 2012
Y1 - 2012
N2 - We present a robust and accurate 3D registration method for a dense sequence of depth images taken from unknown viewpoints. Our method simultaneously estimates multiple extrinsic parameters of the depth images to obtain a registered full 3D model of the scanned scene. By arranging the depth measurements in a matrix form, we formulate the problem as a simultaneous estimation of multiple extrinsics and a low-rank matrix, which corresponds to the aligned depth images as well as a sparse error matrix. Unlike previous approaches that use sequential or heuristic global registration approaches, our solution method uses an advanced convex optimization technique for obtaining a robust solution via rank minimization. To achieve accurate computation, we develop a depth projection method that has minimum sensitivity to sampling by reading projected depth values in the input depth images. We demonstrate the effectiveness of the proposed method through extensive experiments and compare it with previous standard techniques.
AB - We present a robust and accurate 3D registration method for a dense sequence of depth images taken from unknown viewpoints. Our method simultaneously estimates multiple extrinsic parameters of the depth images to obtain a registered full 3D model of the scanned scene. By arranging the depth measurements in a matrix form, we formulate the problem as a simultaneous estimation of multiple extrinsics and a low-rank matrix, which corresponds to the aligned depth images as well as a sparse error matrix. Unlike previous approaches that use sequential or heuristic global registration approaches, our solution method uses an advanced convex optimization technique for obtaining a robust solution via rank minimization. To achieve accurate computation, we develop a depth projection method that has minimum sensitivity to sampling by reading projected depth values in the input depth images. We demonstrate the effectiveness of the proposed method through extensive experiments and compare it with previous standard techniques.
UR - http://www.scopus.com/inward/record.url?scp=84872050273&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872050273&partnerID=8YFLogxK
U2 - 10.1109/3DIMPVT.2012.15
DO - 10.1109/3DIMPVT.2012.15
M3 - Conference contribution
AN - SCOPUS:84872050273
SN - 9780769548739
T3 - Proceedings - 2nd Joint 3DIM/3DPVT Conference: 3D Imaging, Modeling, Processing, Visualization and Transmission, 3DIMPVT 2012
SP - 33
EP - 40
BT - Proceedings - 2nd Joint 3DIM/3DPVT Conference
T2 - 2nd Joint 3DIM/3DPVT Conference: 3D Imaging, Modeling, Processing, Visualization and Transmission, 3DIMPVT 2012
Y2 - 13 October 2012 through 15 October 2012
ER -