Point correspondences between successive range views using localized spin images

Jonathan Kofman; George K. Knopf

doi:10.1117/12.360308

26 August 1999 Point correspondences between successive range views using localized spin images

Jonathan Kofman, George K. Knopf

Proceedings Volume 3837, Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision; (1999) https://doi.org/10.1117/12.360308
Event: Photonics East '99, 1999, Boston, MA, United States

Abstract

The determination of point correspondences between range images is used in computer vision for range image registration and object recognition. The use of a spin image as a feature for matching has had considerable success in object recognition. However, in registration, refinement by iterative methods has been required. This paper present a method of determining the surface geometry in a local region surrounding the point. The technique is developed for range images which have little movement between viewpoints, and which consists of only several profiles each. The method involves fitting surface patches to the surfaces of the two successive views, creating spin-image features at a few points of each patch in one view, and determining the best match of features on the previous reference view using a localized interpolating search. The sets of corresponding points of the two successive range views are then used directly to compute the registration transformation between views. This computation effectively refines the corresponding by minimizing the residual errors. The technique is demonstrated using a pair of synthetic range views, derived from a range image of an object with a free- form surface.

Citation Download Citation

Jonathan Kofman and George K. Knopf "Point correspondences between successive range views using localized spin images", Proc. SPIE 3837, Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision, (26 August 1999); https://doi.org/10.1117/12.360308

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