Robustly registering range images using local distribution of albedo

Diego Thomas, Akihiro Sugimoto

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


We propose a robust method for registering overlapping range images of a Lambertian object under a rough estimate of illumination. Because reflectance properties are invariant to changes in illumination, the albedo is promising to range image registration of Lambertian objects lacking in discriminative geometric features under variable illumination. We use adaptive regions in our method to model the local distribution of albedo, which enables us to stably extract the reliable attributes of each point against illumination estimates. We use a level-set method to grow robust and adaptive regions to define these attributes. A similarity metric between two attributes is also defined to match points in the overlapping area. Moreover, remaining mismatches are efficiently removed using the rigidity constraint of surfaces. Our experiments using synthetic and real data demonstrate the robustness and effectiveness of our proposed method.

Original languageEnglish
Pages (from-to)649-667
Number of pages19
JournalComputer Vision and Image Understanding
Issue number5
Publication statusPublished - May 2011
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Software
  • Signal Processing
  • Computer Vision and Pattern Recognition


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