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    Robust Alignment of wide Baseline Terrestrial Laser Scans via 3D Viewpoint Normalization


    Cao, Yanpeng and Yang, Michael Ying and McDonald, John (2011) Robust Alignment of wide Baseline Terrestrial Laser Scans via 3D Viewpoint Normalization. In: IEEE Workshop on Applications of Computer Vision (WACV), 2011. IEEE, pp. 455-462. ISBN 9781424494965

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    Abstract

    The complexity of natural scenes and the amount of information acquired by terrestrial laser scanners turn the registration among scans into a complex problem. This problem becomes even more challenging when two individual scans captured at significantly changed viewpoints (wide baseline). Since laser-scanning instruments nowadays are often equipped with an additional image sensor, it stands to reason making use of the image content to improve the registration process of 3D scanning data. In this paper, we present a novel improvement to the existing feature techniques to enable automatic alignment between two widely separated 3D scans. The key idea consists of extracting dominant planar structures from 3D point clouds and then utilizing the recovered 3D geometry to improve the performance of 2D image feature extraction and matching. The resulting features are very discriminative and robust to perspective distortions and viewpoint changes due to exploiting the underlying 3D structure. Using this novel viewpoint invariant feature, the corresponding 3D points are automatically linked in terms of wide baseline image matching. Initial experiments with real data demonstrate the potential of the proposed method for the challenging wide baseline 3D scanning data alignment tasks.

    Item Type: Book Section
    Keywords: optical scanners; computational geometry; feature extraction; image matching; image registration; image sensors; natural scenes;
    Academic Unit: Faculty of Science and Engineering > Computer Science
    Item ID: 8319
    Identification Number: https://doi.org/10.1109/WACV.2011.5711539
    Depositing User: John McDonald
    Date Deposited: 13 Jun 2017 09:05
    Publisher: IEEE
    Refereed: Yes
    Funders: Science Foundation Ireland, Deutsche Forschungsgemeinschaft
    URI:

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