An automatic 3D textured model building method using stripe structured light system

Abstract

This paper presents a novel textured model building method using stripe structured light system. It is implemented by automatic registration of multiple point clouds obtained by the structured light system. Firstly, point clouds captured from different viewpoints are pairwise coarsely registered by feature matching of their corresponding RGB images. Secondly, we use an appropriate function to evaluate the quality of every pairwise coarse registration, and construct a pairwise coarse registration graph which uses point clouds as nodes and the evaluation function between them to weight their corresponding edges. Thirdly, an optimal registration tree will be generated by finding the maximum weight spanning tree of the graph and selecting a node as the root to minimize the depth of the tree. Finally, global fine registration is performed by applying ICP algorithm along the optimal registration tree. Median filtering in luminance space is also applied in the color of the integrated point model to adjust the RGB values. Experiment shows that this approach can automatically build full models which are well-registered and compatible in color for textured objects even when those objects are not rich in geometrical information.