%0 Conference Proceedings
%4 sid.inpe.br/banon/2004/08.02.12.04
%2 sid.inpe.br/banon/2004/08.02.12.04.18
%@doi 10.1109/SIBGRA.2004.1352985
%T Automatic image alignment for 3D environment modeling
%D 2004
%A Williams, Nathaniel,
%A Low, Kok-Lim,
%A Hantak, Chad,
%A Pollefeys, Marc,
%A Lastra, Anselmo,
%@affiliation University of North Carolina at Chapel Hill
%E Araújo, Arnaldo de Albuquerque,
%E Comba, João Luiz Dihl,
%E Navazo, Isabel,
%E Sousa, Antônio Augusto de,
%B Brazilian Symposium on Computer Graphics and Image Processing, 17 (SIBGRAPI) - Ibero-American Symposium on Computer Graphics, 2 (SIACG)
%C Curitiba, PR, Brazil
%8 17-20 Oct. 2004
%I IEEE Computer Society
%J Los Alamitos
%S Proceedings
%K image registration, 3D imaging. .
%X 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.
%@language en