Automatic Registration of RGBD Scans via Salient Directions.

Zeisl, B., Köser, Kevin and Pollefeys, M. (2013) Automatic Registration of RGBD Scans via Salient Directions. In: Proceedings of the International Conference on Computer Vision 2013 (ICCV 2013). . ICCV, Sydney, Australia, pp. 465-472. DOI 10.1109/ICCV.2013.349.

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We address the problem of wide-baseline registration of
RGB-D data, such as photo-textured laser scans without
any artificial targets or prediction on the relative motion.
Our approach allows to fully automatically register scans
taken in GPS-denied environments such as urban canyon,
industrial facilities or even indoors. We build upon image
features which are plenty, localized well and much more
discriminative than geometry features; however, they suffer
from viewpoint distortions and request for normalization.
We utilize the principle of salient directions present in
the geometry and propose to extract (several) directions
from the distribution of surface normals or other cues such
as observable symmetries. Compared to previous work we
pose no requirements on the scanned scene (like containing
large textured planes) and can handle arbitrary surface
shapes. Rendering the whole scene from these repeatable
directions using an orthographic camera generates textures
which are identical up to 2D similarity transformations.
This ambiguity is naturally handled by 2D features and allows
to find stable correspondences among scans. For geometric
pose estimation from tentative matches we propose a
fast and robust 2 point sample consensus scheme integrating
an early rejection phase. We evaluate our approach on
different challenging real world scenes.

Document Type: Book chapter
Additional Information: Poster
Research affiliation: OceanRep > GEOMAR > FB2 Marine Biogeochemistry > FB2-MG Marine Geosystems
Open Access Journal?: Yes
DOI etc.: 10.1109/ICCV.2013.349
Date Deposited: 14 Jan 2014 08:32
Last Modified: 15 Jan 2014 09:34

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