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Proceedings Paper

Method for registering overlapping range images of arbitrarily shaped surfaces for 3D object reconstruction
Author(s): Eric Bittar; Stephane Lavallee; Richard Szeliski
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Paper Abstract

This paper presents a method to register overlapping 3-D surfaces which we use to reconstruct entire three-dimensional objects from sets of views. We use a range imaging sensor to digitize the object in several positions. Each pair of overlapping images is then registered using the algorithm developed in this paper. Rather than extracting and matching features, we match the complete surface, which we represent using a collection of points. This enables us to reconstruct smooth free-form objects which may lack sufficient features. Our algorithm is an extension of an algorithm we previously developed to register 3-D surfaces. This algorithm first creates an octree-spline from one set of points to quickly compute point to surface distances. It then uses an iterative nonlinear least squares minimization technique to minimize the sum of squared distances from the data point set to the octree point set. In this paper, we replace the squared distance with a function of the distance, which allows the elimination of points that are not in the shared region between the two sets. Once the object has been reconstructed by merging all the views, a continuous surface model is created from the set of points. This method has been successfully used on the limbs of a dummy and on a human head.

Paper Details

Date Published: 20 August 1993
PDF: 12 pages
Proc. SPIE 2059, Sensor Fusion VI, (20 August 1993); doi: 10.1117/12.150242
Show Author Affiliations
Eric Bittar, Faculte de Medecine de Grenoble (France)
Stephane Lavallee, Faculte de Medecine de Grenoble (France)
Richard Szeliski, Digital Equipment Corp. (United States)


Published in SPIE Proceedings Vol. 2059:
Sensor Fusion VI
Paul S. Schenker, Editor(s)

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