![](bg8.png)
5 CONCLUSIONS
In this paper, we presented a reference shape based al-
gorithm for multi-view range image registration. We
tested the performance of our algorithm on multiple
range images from either one object or multiple ob-
jects. Experimental results show that the proposed
algorithm can perform multi-view range image reg-
istration on mixed and unordered range images which
correspond to different objects. We also tested the
robustness of our algorithm with respect to varying
numbers of input range images. It is shown that the
proposed algorithm is more computationally efficient
compared to the state-of-the-art methods. We further
demonstrated the effectiveness of the proposed algo-
rithm by performing 3D modeling. Overall, the pro-
posed algorithm is accurate, efficient and robust.
REFERENCES
Alexiadis, D., Zarpalas, D., and Daras, P. (2013). Real-time,
full 3-D reconstruction of moving foreground objects
from multiple consumer depth cameras. IEEE Trans-
actions on Multimedia, 15(2):339–358.
Assfalg, J., Bertini, M., Bimbo, A., and Pala, P. (2007).
Content-based retrieval of 3-D objects using spin im-
age signatures. IEEE Transactions on Multimedia,
9(3):589–599.
Bariya, P., Novatnack, J., Schwartz, G., and Nishino, K.
(2012). 3D geometric scale variability in range im-
ages: Features and descriptors. International Journal
of Computer Vision, 99(2):232–255.
Besl, P. and McKay, N. (1992). A method for registration
of 3-D shapes. IEEE Transactions on Pattern Analysis
and Machine Intelligence, 14(2):239–256.
Bouaziz, S., Tagliasacchi, A., and Pauly, M. (2013). Sparse
iterative closest point. Computer Graphics Forum
(Special Issue of Symposium on Geometry Process-
ing), 32(5):1–11.
Chen, Y. and Medioni, G. (1992). Object modelling by reg-
istration of multiple range images. Image and vision
computing, 10(3):145–155.
Curless, B. and Levoy, M. (1996). A volumetric method
for building complex models from range images. In
23rd Annual Conference on Computer Graphics and
Interactive Techniques, pages 303–312.
Dorai, C., Wang, G., Jain, A. K., and Mercer, C. (1998).
Registration and integration of multiple object views
for 3D model construction. IEEE Transactions on Pat-
tern Analysis and Machine Intelligence, 20(1):83–89.
Guo, Y., Bennamoun, M., Sohel, F., Wan, J., and Lu, M.
(2013a). 3D free form object recognition using rota-
tional projection statistics. In IEEE 14th Workshop on
the Applications of Computer Vision, pages 1–8.
Guo, Y., Sohel, F., Bennamoun, M., Lu, M., and Wan, J.
(2013b). Rotational projection statistics for 3D local
surface description and object recognition. Interna-
tional Journal of Computer Vision, 105(1):63–86.
Guo, Y., Sohel, F., Bennamoun, M., Lu, M., and Wan, J.
(2013c). TriSI: A distinctive local surface descrip-
tor for 3D modeling and object recognition. In 8th
International Conference on Computer Graphics The-
ory and Applications, pages 86–93.
Huang, Q. and Pottmann, H. (2005). Automatic and robust
multi-view registration. Technical report, Tsinghua
University.
Huber, D. and Hebert, M. (2003). Fully automatic regis-
tration of multiple 3D data sets. Image and Vision
Computing, 21(7):637–650.
Johnson, A. E. and Bing Kang, S. (1999). Registration
and integration of textured 3D data. Image and Vision
Computing, 17(2):135–147.
Lei, Y., Bennamoun, M., Hayat, M., and Guo, Y. (2013).
An efficient 3D face recognition approach using local
geometrical signatures. Pattern Recognition.
Masuda, T. (2009). Log-polar height maps for multiple
range image registration. Computer Vision and Image
Understanding, 113(11):1158–1169.
Mian, A., Bennamoun, M., and Owens, R. (2006a).
Three-dimensional model-based object recognition
and segmentation in cluttered scenes. IEEE Trans-
actions on Pattern Analysis and Machine Intelligence,
28(10):1584–1601.
Mian, A., Bennamoun, M., and Owens, R. A. (2006b). A
novel representation and feature matching algorithm
for automatic pairwise registration of range images.
International Journal of Computer Vision, 66(1):19–
40.
Rusinkiewicz, S., Hall-Holt, O., and Levoy, M. (2002).
Real-time 3D model acquisition. In ACM Transac-
tions on Graphics, volume 21, pages 438–446. ACM.
Salvi, J., Matabosch, C., Fofi, D., and Forest, J. (2007).
A review of recent range image registration methods
with accuracy evaluation. Image and Vision Comput-
ing, 25(5):578–596.
ter Haar, F. B. and Veltkamp, R. C. (2007). Automatic mul-
tiview quadruple alignment of unordered range scans.
In IEEE International Conference on Shape Modeling
and Applications, pages 137–146.
Tombari, F., Salti, S., and Di Stefano, L. (2010). Unique
signatures of histograms for local surface description.
In European Conference on Computer Vision, pages
356–369.
Williams, J. and Bennamoun, M. (2001). Simultaneous reg-
istration of multiple corresponding point sets. Com-
puter Vision and Image Understanding, 81(1):117–
142.
EfficientRegistrationofMultipleRangeImagesforFullyAutomatic3DModeling
103