The paper describes a novel range data registration algorithm, specifically designed for accuracy, speed, and robustness. Like many recent registration techniques, our Robust-Closest-Patch algorithm (RCP) iteratively matches model patches to data surfaces based on the current pose and then re-estimates pose based on these matches. RCP has several novel features: 1) online registration is driven by low curvature patches computed from the model offline; 2) an approximate normal distance between a patch and a surface is used, avoiding the need to estimate local surface normal and curvature from noisy data; 3) pose is solved exactly by a linear system in six parameters, using a symmetric formulation of the rotation constraint; 4) robustness is ensured using an M-estimator that estimates both the rigid pose parameters and the error standard deviation. Results are shown using models and range data from turbine blade inspection.
CITATION STYLE
Nguyen, V. D., Nzomigni, V., & Stewart, C. V. (1999). Fast and robust registration of 3D surfaces using low curvature patches. In Proceedings - 2nd International Conference on 3-D Digital Imaging and Modeling, 3DIM 1999 (pp. 201–208). Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.1109/IM.1999.805350
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