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		<doi>10.1109/SIBGRA.2004.1352985</doi>
		<citationkey>WilliamsLowHanPolLas:2004:AuImAl</citationkey>
		<title>Automatic image alignment for 3D environment modeling</title>
		<format>On-line</format>
		<year>2004</year>
		<numberoffiles>2</numberoffiles>
		<size>8468 KiB</size>
		<author>Williams, Nathaniel,</author>
		<author>Low, Kok-Lim,</author>
		<author>Hantak, Chad,</author>
		<author>Pollefeys, Marc,</author>
		<author>Lastra, Anselmo,</author>
		<affiliation>University of North Carolina at Chapel Hill</affiliation>
		<editor>Araújo, Arnaldo de Albuquerque,</editor>
		<editor>Comba, João Luiz Dihl,</editor>
		<editor>Navazo, Isabel,</editor>
		<editor>Sousa, Antônio Augusto de,</editor>
		<e-mailaddress>than@cs.unc.edu</e-mailaddress>
		<conferencename>Brazilian Symposium on Computer Graphics and Image Processing, 17 (SIBGRAPI) - Ibero-American Symposium on Computer Graphics, 2 (SIACG)</conferencename>
		<conferencelocation>Curitiba, PR, Brazil</conferencelocation>
		<date>17-20 Oct. 2004</date>
		<publisher>IEEE Computer Society</publisher>
		<publisheraddress>Los Alamitos</publisheraddress>
		<booktitle>Proceedings</booktitle>
		<tertiarytype>Full Paper</tertiarytype>
		<transferableflag>1</transferableflag>
		<versiontype>finaldraft</versiontype>
		<keywords>image registration, 3D imaging. .</keywords>
		<abstract>We describe an approach for automatically registering color images with 3D laser scanned models. We use the chi-square statistic to compare color images to polygonal models texture mapped with acquired laser reflectance values. In complicated scenes we find that the chi-square test is not robust enough to permit an automatic global registration approach. Therefore, we introduce two techniques for obtaining initial pose estimates that correspond to a coarse alignment of the data. The first method is based on rigidly attaching a camera to a laser scanner and the second utilizes object tracking to decouple these imaging devices. The pose estimates serve as an initial guess for our optimization method, which maximizes the chi-square statistic over a local space of transformations in order to automatically determine the proper alignment.</abstract>
		<language>en</language>
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		<url>http://sibgrapi.sid.inpe.br/rep-/sid.inpe.br/banon/2004/08.02.12.04</url>
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