Istituto di Scienza e Tecnologie dell'Informazione     
Pingi P., Corsini M., Ganovelli F., Scopigno R. Fast and simple automatic alignment of large sets of range maps. In: Computers & Graphics, vol. 47 (April 2015) pp. 78 - 88. [Online First 20 December 2014] Elsevier, 2015.
We present a very fast and simple-to-implement algorithm for the automatic registration of a large number of range maps. The proposed algorithm exploits a compact and GPU-friendly descriptor specifically designed for the alignment of this type of data. This pairwise registration algorithm, which also includes a simple mechanism to avoid to get false positives, is part of a system capable to align a sequence of up to hundreds of range maps in few minutes. In order to reduce the number of pairs to align in the case of unordered range maps we use a prioritization strategy based on the fast computation of the correlation between range maps through FFT. The proposed system does not need any user input and it was tested successfully on a large variety of datasets coming from real acquisition campaigns.
URL: http://www.sciencedirect.com/science/article/pii/S0097849314001447
DOI: 10.1016/j.cag.2014.12.002
Subject Range Maps Registration
3D Scanning
Automatic Registration

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