We present a very fast and simple-to-implement algorithm for the automatic registration of a large number of range maps. The proposed algorithm exploits a compact and GPU-friendly descriptor specifically designed for the alignment of this type of data. This pairwise registration algorithm, which also includes a simple mechanism to avoid to get false positives, is part of a system capable to align a sequence of up to hundreds of range maps in few minutes. In order to reduce the number of pairs to align in the case of unordered range maps we use a prioritization strategy based on the fast computation of the correlation between range maps through FFT. The proposed system does not need any user input and it was tested successfully on a large variety of datasets coming from real acquisition campaigns.

Fast and simple automatic alignment of large sets of range maps / Pingi, Paolo; Corsini, M; Ganovelli, Fabio; Scopigno, Roberto. - In: COMPUTERS & GRAPHICS. - ISSN 0097-8493. - 12:(2015). [10.1016/j.cag.2014.12.002]

Fast and simple automatic alignment of large sets of range maps

Corsini M;
2015

Abstract

We present a very fast and simple-to-implement algorithm for the automatic registration of a large number of range maps. The proposed algorithm exploits a compact and GPU-friendly descriptor specifically designed for the alignment of this type of data. This pairwise registration algorithm, which also includes a simple mechanism to avoid to get false positives, is part of a system capable to align a sequence of up to hundreds of range maps in few minutes. In order to reduce the number of pairs to align in the case of unordered range maps we use a prioritization strategy based on the fast computation of the correlation between range maps through FFT. The proposed system does not need any user input and it was tested successfully on a large variety of datasets coming from real acquisition campaigns.
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Fast and simple automatic alignment of large sets of range maps / Pingi, Paolo; Corsini, M; Ganovelli, Fabio; Scopigno, Roberto. - In: COMPUTERS & GRAPHICS. - ISSN 0097-8493. - 12:(2015). [10.1016/j.cag.2014.12.002]
Pingi, Paolo; Corsini, M; Ganovelli, Fabio; Scopigno, Roberto
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/1170202
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