Automatic registration of range images combined with the system calibration and global ICP

In this paper, we propose an approach for the automatic fast registration of range images which are captured by the 3D optical measurement system. The measurement system consists of multiple 3D sensors distributed from the top to the bottom separately, which are used to measure object from different views. And a one-axis turntable is constructed to drive object revolve around the axis with eight angles. In each orientation, we can obtain multiple range images of object with the measurement system. And then all range images of object are needed to register to uniform coordinate frame. Firstly, we establish an in-situ 3-D calibration target in a measurement volume, which consists of a number of marker points. The coordinates of those marker points are obtained from the photogrammetry technique and they are thereafter employed for the determination of the locations and orientations of 3D sensors, which will be used to implement the registration among the range images taken from multi-sensors in one angle view. In addition, the registration of range images of eight angles can be achieved by the calibration of the rotation axis. In the end, the global iterative closest points method is proposed to attain the fine registration of all range images. The experimental results demonstrate the validity of the registration approach.

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