Optimal registration of object views using range data |
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Authors: | Dorai C Weng J Jain AK |
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Affiliation: | IBM Thomas J. Watson Res. Center, Yorktown Heights, NY; |
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Abstract: | This paper deals with robust registration of object views in the presence of uncertainties and noise in depth data. Errors in registration of multiple views of a 3D object severely affect view integration during automatic construction of object models. We derive a minimum variance estimator (MVE) for computing the view transformation parameters accurately from range data of two views of a 3D object. The results of our experiments show that view transformation estimates obtained using MVE are significantly more accurate than those computed with an unweighted error criterion for registration |
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