Multi-view registration of unordered range scans by fast correspondence propagation of multi-scale descriptors

by   Jihua Zhu, et al.

This paper proposes a global approach for the multi-view registration of unordered range scans. As the basis of multi-view registration, pair-wise registration is very pivotal. Therefore, we first select a good descriptor and accelerate its correspondence propagation for the pair-wise registration. Then, we design an effective rule to judge the reliability of pair-wise registration results. Subsequently, we propose a model augmentation method, which can utilize reliable results of pair-wise registration to augment the model shape. Finally, multi-view registration can be accomplished by operating the pair-wise registration and judgment, and model augmentation alternately. Experimental results on public available data sets show, that this approach can automatically achieve the multi-view registration of unordered range scans with good accuracy and effectiveness.


page 1

page 2

page 3

page 4


Weighted Motion Averaging for the Registration of Multi-View Range Scans

Multi-view registration is a fundamental but challenging problem in 3D r...

Descriptor-Free Multi-View Region Matching for Instance-Wise 3D Reconstruction

This paper proposes a multi-view extension of instance segmentation with...

Learning and Matching Multi-View Descriptors for Registration of Point Clouds

Critical to the registration of point clouds is the establishment of a s...

3DMNDT:3D multi-view registration method based on the normal distributions transform

The normal distributions transform (NDT) is an effective paradigm for th...

Multi-view Registration Based on Weighted Low Rank and Sparse Matrix Decomposition of Motions

Recently, the low rank and sparse (LRS) matrix decomposition has been in...

Supervision by Registration and Triangulation for Landmark Detection

We present Supervision by Registration and Triangulation (SRT), an unsup...

X-View: Graph-Based Semantic Multi-View Localization

Global registration of multi-view robot data is a challenging task. Appe...