Range Image Registration using a Photometric Metric under Unknown Lighting
Range Image Registration using a Photometric Metric under Unknown Lighting
复制标题
在未知照明下使用光度度量进行范围图像配准
DOI：
10.1109/tpami.2013.21
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
D. Thomas and A. Sugimoto
中科院分区：
文献类型：
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作者：
D. Thomas and A. Sugimoto
基于球谐函数表示的图像形成，我们推导出一个新的光度度量的正确性评估一个给定的刚性变换对齐两个重叠的范围图像下捕获未知的，遥远的，和一般的照明。我们估计周围的照明和两个距离图像的点从输入变换引起的点的对应关系的亮度值。然后，我们合成两个范围图像的颜色，使用点对应关系转移到计算的光度重投影误差使用的颜色值。这种方法允许我们通过找到最小化光度重投影误差的变换来精确地配准两个距离图像。我们还提出了一个实用的方法，使用建议的光度度量注册对的范围图像没有显着的几何特征，在未知的照明下捕获。我们的方法使用一个假设和测试策略来搜索的转换，最大限度地减少我们的光度度量。变换候选有效地产生通过采用每个范围图像的球形表示。使用合成和真实的数据的实验结果表明，所提出的度量的实用性。
Based on the spherical harmonics representation of image formation, we derive a new photometric metric for evaluating the correctness of a given rigid transformation aligning two overlapping range images captured under unknown, distant, and general illumination. We estimate the surrounding illumination and albedo values of points of the two range images from the point correspondences induced by the input transformation. We then synthesize the color of both range images using albedo values transferred using the point correspondences to compute the photometric reprojection error. This way allows us to accurately register two range images by finding the transformation that minimizes the photometric reprojection error. We also propose a practical method using the proposed photometric metric to register pairs of range images devoid of salient geometric features, captured under unknown lighting. Our method uses a hypothesize-and-test strategy to search for the transformation that minimizes our photometric metric. Transformation candidates are efficiently generated by employing the spherical representation of each range image. Experimental results using both synthetic and real data demonstrate the usefulness of the proposed metric.