Using Simplified Meshes for the Crude Registration of Two Partially Overlapping Range Images

Gonzales,M.R.M., Wu,Sh.-T.

Abstract:
We present an efficient algorithm for the crude registration of two partially overlapping range images. The central focus of our work is how to filter out the wrong pairs efficiently in order to
reduce the search space. Motivated by the availability of robust and efficient mesh simplification algorithms, such as the QSLIM software package, which preserve the principal caractheristics of the surface shape, and the existence of faithful fine registration algorithms based on the well-known ICP technique, we propose to estimate a good initial transformation estimate on the basis of a set of vertices of a simplified mesh, instead of two dense sets of range data. Some promising results that validate our proposal are provided