Recommended Citation
Published in Proceedings of the First International Symposium on 3D Data Processing Visualization and Transmission, June 19, 2002, pages 544-548.
The definitive version is available at https://doi.org/10.1109/TDPVT.2002.1024115.
Abstract
Preliminary results of a new method for range view registration are presented. The method incorporates the LeRP Algorithm, which is a deterministic means to approximate subgraph isomorphisms. Graphs are formed that describe salient scene features. Graph matching then provides the scene-to-scene correspondence necessary for registration. A graphical representation is invariant with respect to sensor standoff. Test results from real and synthetic images indicate that a reasonable tradeoff between speed and accuracy is achievable. A mean rotational error of ~1 degree was found for a variety of test cases. Mean compute times were found to be better than 2 Hz, with image sizes varying from 128x200 to 240x320. These tests were run on a 900 MHz PC. The greatest challenge to this approach is the stable localization and invariant characterization of image features via fast, deterministic techniques.
Disciplines
Electrical and Computer Engineering
Copyright
2002 IEEE.
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