Registration and integration of textured 3-D data
Registration and integration of textured 3-D data
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DOI：
10.1109/im.1997.603871
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发表时间：
1997-05
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通讯作者：
Andrew E. Johnson;S. B. Kang
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作者：
Andrew E. Johnson;S. B. Kang
通常，需要多个视图来创建对象或多房间室内场景的完整3D模型。在这项工作中，我们解决的问题，合并多个纹理的3-D数据集，其中每一个对应于一个场景或对象的不同视图。合并过程有两个步骤：注册和整合。为了配准或对齐数据集，我们使用迭代最近点算法的修改版本;我们的版本，我们称之为彩色ICP，不仅考虑3D信息，还考虑颜色。我们表明，使用颜色减少了一个数量级的注册误差。一旦3-D数据集已经注册，我们将它们整合，以产生一个无缝的，复合的3-D纹理模型。我们的整合方法使用一个3-D占用网格，通过投票来表示空间占用的可能性。除了占用信息之外，我们还将表面法线存储在占用网格的每个体素中。表面法线用于从占用网格中鲁棒地提取表面;在该表面上，我们混合来自多个视图的纹理。
In general, multiple views are required to create a complete 3-D model of an object or of a multi-roomed indoor scene. In this work, we address the problem of merging multiple textured 3-D data sets, each of which corresponds to a different view of a scene or object. There are two steps to the merging process: registration and integration. To register, or align, data sets we use a modified version of the Iterative Closest Point algorithm; our version, which we call color ICP, considers not only 3-D information, but color as well. We show that the use of color decreases registration error by an order of magnitude. Once the 3-D data sets have been registered we integrate them to produce a seamless, composite 3-D textured model. Our approach to integration uses a 3-D occupancy grid to represent likelihood of spatial occupancy through voting. In addition to occupancy information, we store surface normal in each voxel of the occupancy grid. Surface normal is used to robustly extract a surface from the occupancy grid; on that surface we blend textures from multiple views.