Fully automatic and robust 3D modeling for range scan data of complex 3D objects

Abstract

3D surface registration of two or more range scans is an important step in building a complete 3D model of an object. When the overlaps between multi-view scans are insufficient, good initial alignment is necessary that usually requires some prior assumption such as pre-defined initial camera configuration or the use of landmarks. Specifically, this paper addresses the problem of registering two or more range scans captured from complex 3D objects which have small overlaps. The proposed technique is based on the integration of a new Partial Artificial Heat Kernel Signature (PA-HKS) and a Modified Multi-view Iterative Contour Coherence (MM-ICC) algorithm. This unique combination allows us to handle multi-view range scan data with large out-of-plane rotation and with limited overlaps between every two adjacent views. The experimental results on several complex 3D objects show the effectiveness and robustness of the proposed approach.