IEEE Computer Vision and Pattern Recognition, Madison, WI, 2003

Paper: Automated Feature-Based Range Registration of Urban Scenes of Large Scale

Ioannis Stamos, Assistant Professor, Hunter College and the Graduate Center of the City University of New York.

Marius Leordeanu, senior undergraduate student, Hunter College of the City University of New York (starting his PhD at Carnegie Mellon University on Fall 2003).

Abstract: We are building a system that can automatically acquire 3D range scans and 2D images to build geometrically and photometrically correct 3D models of urban environments. A major bottleneck in the process is the automated registration of a large number of geometrically complex 3D range scans in a common frame of reference. In this paper we provide a novel method for the accurate and efficient registration of  a large number of complex range scans. The method utilizes range segmentation and feature extraction algorithms. Our algorithm automatically computes pairwise registrations between individual scans, builds a topological graph, and places the scans in the same frame of reference.We present results for building large scale 3D models of historic sites and urban structures.

Link to paper.

Link to Computer Vision Laboratory.

Link to Automatic Registration Page.