Fully automatic registration of multiple 3D data sets

This paper presents a method for automatically registering multiple rigid three dimensional (3D) data sets, a process we call multi-view surface matching. Previous approaches required manual registration or relied on specialized hardware to record the sensor position. In contrast, our method does not require any pose measuring hardware or manual intervention. We do not assume any knowledge of initial poses or which data sets overlap. Our multi-view surface matching algorithm begins by converting the input data into surface meshes, which are pair-wise registered using a surface matching engine. The resulting matches are tested for surface consistency, but some incorrect matches may be indistinguishable from correct ones at this local level. A global optimization process searches a graph constructed from the pair-wise matches for a connected sub-graph containing only correct matches, employing a global consistency measure to eliminate incorrect, but locally consistent, matches. From this sub-graph, the rigid-body transforms that register all the views can be computed directly. We apply our algorithm to the problem of 3D digital reconstruction of real-world objects and show results for a collection of automatically digitized objects.

[1]  Marc Levoy,et al.  Zippered polygon meshes from range images , 1994, SIGGRAPH.

[2]  Zhengyou Zhang,et al.  Iterative point matching for registration of free-form curves and surfaces , 1994, International Journal of Computer Vision.

[3]  Michael Ian Shamos,et al.  Computational geometry: an introduction , 1985 .

[4]  Marc H. Raibert,et al.  Running With Symmetry , 1986 .

[5]  Voicu Popescu,et al.  Interactive exploration of acquired 3D data , 2000, Applied Imaging Pattern Recognition.

[6]  Marc Levoy,et al.  The digital Michelangelo project: 3D scanning of large statues , 2000, SIGGRAPH.

[7]  Martial Hebert,et al.  Large data sets and confusing scenes in 3-D surface matching and recognition , 1999, Second International Conference on 3-D Digital Imaging and Modeling (Cat. No.PR00062).

[8]  Yi-Ping Hung,et al.  RANSAC-Based DARCES: A New Approach to Fast Automatic Registration of Partially Overlapping Range Images , 1999, IEEE Trans. Pattern Anal. Mach. Intell..

[9]  Erik Wolfart,et al.  Automated 3D reconstruction of interiors with multiple scan views , 1998, Electronic Imaging.

[10]  Szymon Rusinkiewicz,et al.  Real-time acquisition and rendering of large 3D models , 2001 .

[11]  Reinhard Koch,et al.  Invariant-based registration of surface patches , 1999, Proceedings of the Seventh IEEE International Conference on Computer Vision.

[12]  Peter Johannes Neugebauer,et al.  Geometrical cloning of 3D objects via simultaneous registration of multiple range images , 1997, Proceedings of 1997 International Conference on Shape Modeling and Applications.

[13]  Evangelos E. Milios,et al.  Globally Consistent Range Scan Alignment for Environment Mapping , 1997, Auton. Robots.

[14]  Katsushi Ikeuchi,et al.  Building 3-D Models from Unregistered Range Images , 1995, CVGIP Graph. Model. Image Process..

[15]  Robert Bergevin,et al.  Towards a General Multi-View Registration Technique , 1996, IEEE Trans. Pattern Anal. Mach. Intell..

[16]  Shigeo Abe DrEng.  Pattern Classification , 2001, Springer London.

[18]  Reinhard Koch,et al.  3D Structure from Multiple Images of Large-Scale Environments , 1998, Lecture Notes in Computer Science.

[19]  Paul J. Besl,et al.  A Method for Registration of 3-D Shapes , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[20]  Adrian Hilton,et al.  Registration of multiple point sets , 1996, Proceedings of 13th International Conference on Pattern Recognition.

[21]  Andrew W. Fitzgibbon,et al.  Simultaneous Registration of Multiple Range Views for Use in Reverse Engineering of CAD Models , 1998, Comput. Vis. Image Underst..

[22]  Mark D. Wheeler,et al.  Automatic Modeling and Localization for Object Recognition , 1996 .

[23]  Dongmei Zhang,et al.  Harmonic maps and their applications in surface matching , 1999, Proceedings. 1999 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (Cat. No PR00149).

[24]  Ioannis Stamos,et al.  AVENUE: Automated site modeling in urban environments , 2001, Proceedings Third International Conference on 3-D Digital Imaging and Modeling.

[25]  Marc Levoy,et al.  A volumetric method for building complex models from range images , 1996, SIGGRAPH.

[26]  Marc Levoy,et al.  Efficient variants of the ICP algorithm , 2001, Proceedings Third International Conference on 3-D Digital Imaging and Modeling.

[27]  Chin Seng Chua,et al.  Point Signatures: A New Representation for 3D Object Recognition , 1997, International Journal of Computer Vision.

[28]  Peter Johannes Neugebauer,et al.  Reconstruction of Real-World Objects via Simultaneous Registration and Robust Combination of Multiple Range Images , 1997, Int. J. Shape Model..

[29]  Daniel F. Huber,et al.  Automatic 3D modeling using range images obtained from unknown viewpoints , 2001, Proceedings Third International Conference on 3-D Digital Imaging and Modeling.

[30]  Thomas Ertl,et al.  Computer Graphics - Principles and Practice, 3rd Edition , 2014 .

[31]  M. Carter.  Computer graphics: Principles and practice , 1997 .

[32]  Andrew E. Johnson,et al.  Toward a General 3-D Matching Engine: Multiple Models, Complex Scenes, and Efficient Data Filtering , 1998 .

[33]  Holly E. Rushmeier,et al.  Strategies for registering range images from unknown camera positions , 2000, Electronic Imaging.

[34]  Gérard G. Medioni,et al.  Object modelling by registration of multiple range images , 1992, Image Vis. Comput..

[35]  David G. Stork,et al.  Pattern Classification , 1973 .

[36]  Andrew W. Fitzgibbon,et al.  Simultaneous registration of multiple range views for use in reverse engineering , 1996, Proceedings of 13th International Conference on Pattern Recognition.

[37]  Robert C. Bolles,et al.  3DPO: A Three- Dimensional Part Orientation System , 1986, IJCAI.

[38]  Omead Amidi,et al.  Arctic Test Flights of the CMU Autonomous Helicopter , 1999 .

[39]  Patrick J. Flynn,et al.  A Survey Of Free-Form Object Representation and Recognition Techniques , 2001, Comput. Vis. Image Underst..

[40]  Gérard G. Medioni,et al.  Structural Indexing: Efficient 3-D Object Recognition , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[41]  Gerhard Roth.  Registering two overlapping range images , 1999, Second International Conference on 3-D Digital Imaging and Modeling (Cat. No.PR00062).

[42]  Kari Pulli,et al.  Multiview registration for large data sets , 1999, Second International Conference on 3-D Digital Imaging and Modeling (Cat. No.PR00062).

[43]  Francis Schmitt,et al.  A Solution for the Registration of Multiple 3D Point Sets Using Unit Quaternions , 1998, ECCV.

[44]  Jacob Goldberger,et al.  Registration of multiple point sets using the EM algorithm , 1999, Proceedings of the Seventh IEEE International Conference on Computer Vision.

[45]  Denis Laurendeau,et al.  A General Surface Approach to the Integration of a Set of Range Views , 1995, IEEE Trans. Pattern Anal. Mach. Intell..

[46]  Michael Garland,et al.  Surface simplification using quadric error metrics , 1997, SIGGRAPH.

[47]  Andrew E. Johnson,et al.  Spin-Images: A Representation for 3-D Surface Matching , 1997 .

[48]  Francois Blais,et al.  A system for indoor 3-D mapping and virtual environments , 1997 .

[49]  William Adams,et al.  Tripod operators for recognizing objects in range images: rapid rejection of library objects , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[50]  Andrew E. Johnson,et al.  Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes , 1999, IEEE Trans. Pattern Anal. Mach. Intell..

[51]  Francois Blais,et al.  System for indoor 3D mapping and virtual environments , 1997, Optics & Photonics.