Sparse Registration - 3D Reconstruction from Pairs of 2D Line Scans

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Dokumentart: Report
Date: 2012
Source: WSI ; 2012 ; 2
Language: English
Faculty: 7 Mathematisch-Naturwissenschaftliche Fakultät
Department: Informatik
DDC Classifikation: 004 - Data processing and computer science
Keywords: Registrierung
Other Keywords: Scan Matching , 3D-Erfassung
Registration , 3d acquisition
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We address a new registration problem: Using a coupled pair of 2d scanners, we capture range data by freely moving the system through the scene. The registration with regard to six degrees of freedom becomes solvable due to the fact that rst, the pair of line scanners has dierent orientation, and second, we use a volume-oriented algorithm instead of commonly used surface-oriented approaches. We present a method that is based on the idea of preserving the free space represented in each of the scans. The proposed algorithm is evaluated with real range data associated with orientation estimates from an inertia sensor. Additionally, we provide quantitative results with simulated data. In both cases, the algorithm is capable to recover from large translational and moderate rotational errors in the initial conguration.

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