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Proceedings Paper

Point correspondences between successive range views using localized spin images
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Paper Abstract

The determination of point correspondences between range images is used in computer vision for range image registration and object recognition. The use of a spin image as a feature for matching has had considerable success in object recognition. However, in registration, refinement by iterative methods has been required. This paper present a method of determining the surface geometry in a local region surrounding the point. The technique is developed for range images which have little movement between viewpoints, and which consists of only several profiles each. The method involves fitting surface patches to the surfaces of the two successive views, creating spin-image features at a few points of each patch in one view, and determining the best match of features on the previous reference view using a localized interpolating search. The sets of corresponding points of the two successive range views are then used directly to compute the registration transformation between views. This computation effectively refines the corresponding by minimizing the residual errors. The technique is demonstrated using a pair of synthetic range views, derived from a range image of an object with a free- form surface.

Paper Details

Date Published: 26 August 1999
PDF: 10 pages
Proc. SPIE 3837, Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision, (26 August 1999); doi: 10.1117/12.360308
Show Author Affiliations
Jonathan Kofman, Univ. of Western Ontario (Canada)
George K. Knopf, Univ. of Western Ontario (Canada)


Published in SPIE Proceedings Vol. 3837:
Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)

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