Coregistration of Range and Optical Images Using Coplanarity and Orientation Constraints

A least-squares method simultaneously solves for the model-to-sensor-suite pose and sensor-to-sensor registration. The development is for a sensor-suite containing separate range and optical sensors. To address outliers and, more generally, match nding, a statistical method (median ltering) and a search method (local search) are developed. Sensitivity to Gaussian noise and the choice of initial pose estimates is investigated on synthetic data. Both of the matching methods are demonstrated on real data.

• Type: Conference
• Year: 1996
• Where: CVPR
• Authors: Anthony N. A. Schwickerath, J. Ross Beveridge
• Keywords: Computer Vision, Containing Separate Range, CVPR 1996, Initial Pose Estimates, Least-squares Method, Search Method, Statistical Method