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《China Mechanical Engineering》 2009-14
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Reference Point Based Registration Algorithm for Binocular Stereo Vision System

Wei Hu Liu Shenglan Zhang Liyan Zhang Hui Jiangsu Key Laboratory of Precision and Micro-manufacturing Technology,Nanjing University of Aeronautics and Astronautics,Nanjing,210016  
A multi-view range image registration algorithm based on reference points for binocular stereo vision system was introduced herein.The algorithm included two phases:crude registration and global registration.Firstly,an incremental crude registration method was proposed for registering each newly scanned range image into a common coordinate frame.Then an iterative algorithm using singular value decomposition for global registration was adapted to optimize the crude registration result.Two improvements for the global registration were carried out.One was to assign the weights to reference points automatically,which allowed the algorithm to decrease the global registration error effectively.Another one was to classify the types of registration network and did the iteration through a planned sequence so that the number of iterations can be decreased in some special cases.Experiments on real scanned data demonstrate the validity and efficiency of the algorithm.
【Fund】: 国家自然科学基金资助项目(50875130);; 高等学校博士学科点专项科研基金资助项目(200802870016);; 江苏省科技支撑计划资助项目(BE2008136)
【CateGory Index】: TP391.41
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