Simultaneous registration of multiple range views for use in reverse engineering

When reverse engineering a CAD model, it is necessary to integrate information from several views of an object into a common reference frame. Given a rough initial alignment, further pose refinement here uses an improved version of the interactive closes point algorithm. Incremental adjustments are computed simultaneously for all data sets, resulting in a more globally optimal set of transformations. Also, thresholds for removing outlier correspondences are not needed, as the merging data sets are considered as a whole. Motion updates are computed through force-based optimization, using implied springs between data sets. Experiments indicate that even for very rough initial positionings, registration accuracy approaches 25% of the interpoint sampling resolution of the images.

[1]  D. Brujic,et al.  Analysis of free form surface registration , 1996, Proceedings of 3rd IEEE International Conference on Image Processing.

[2]  Gang Wang,et al.  From images to models: automatic 3D object model construction from multiple views , 1996, Proceedings of 13th International Conference on Pattern Recognition.

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

[4]  Martin D. Levine,et al.  Registering Multiview Range Data to Create 3D Computer Objects , 1995, IEEE Trans. Pattern Anal. Mach. Intell..

[5]  Michael Potmesil,et al.  Generating Models of Solid Objects by Matching 3D Surface Segments , 1983, IJCAI.

[6]  Grégoire Malandain,et al.  Extension of the ICP algorithm to non-rigid intensity-based registration of 3D volumes , 1996, Proceedings of the Workshop on Mathematical Methods in Biomedical Image Analysis.

[7]  Evangelos E. Milios,et al.  Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

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

[9]  Robert B. Fisher,et al.  Estimating 3-D rigid body transformations: a comparison of four major algorithms , 1997, Machine Vision and Applications.

[10]  G. Champleboux,et al.  From accurate range imaging sensor calibration to accurate model-based 3D object localization , 1992, Proceedings 1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

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

[12]  Jacques Feldmar,et al.  Rigid and Affine Registration of Smooth Surfaces using Differential Properties , 1994, ECCV.

[13]  Hong-Tzong Yau,et al.  Automated precision measurement of surface profile in CAD-directed inspection , 1992, IEEE Trans. Robotics Autom..

[14]  H. Kardestuncer,et al.  Finite element handbook , 1987 .

[15]  Bernd Korn,et al.  A fuzzy ICP algorithm for 3D free-form object recognition , 1996, Proceedings of 13th International Conference on Pattern Recognition.

[16]  Chitra Dorai,et al.  Optimal registration of multiple range views , 1994, Proceedings of 12th International Conference on Pattern Recognition.

[17]  Yasuyo Kita.  Force-based registration method using attribute values , 1996, Proceedings of 13th International Conference on Pattern Recognition.

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

[19]  J. H. Hughes,et al.  Basic Engineering Mechanics , 1977 .

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

[21]  Robert Bergevin,et al.  Registering Range Views of Multipart Objects , 1995, Comput. Vis. Image Underst..

[22]  Jake K. Aggarwal,et al.  Estimation of motion from a pair of range images: A review , 1991, CVGIP Image Underst..

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

[24]  Katsuhiko Sakaue,et al.  Registration and integration of multiple range images for 3-D model construction , 1996, Proceedings of 13th International Conference on Pattern Recognition.

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

[26]  Naokazu Yokoya,et al.  A Robust Method for Registration and Segmentation of Multiple Range Images , 1995, Comput. Vis. Image Underst..

[27]  Adrian Hilton,et al.  Reliable Surface Reconstructiuon from Multiple Range Images , 1996, ECCV.

[28]  Timothy F. Cootes,et al.  Active Shape Models and the Shape Approximation Problem , 1995, BMVC.

[29]  Harry Shum,et al.  Principal Component Analysis with Missing Data and Its Application to Polyhedral Object Modeling , 1995, IEEE Trans. Pattern Anal. Mach. Intell..

[30]  Tony DeRose,et al.  Surface reconstruction from unorganized points , 1992, SIGGRAPH.

[31]  Robert Bergevin,et al.  Registration of multiple range views for automatic 3-D model building , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[32]  Gérard G. Medioni,et al.  Object modeling by registration of multiple range images , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.