Abstract

Complete 3-D modeling of a free-form ob ject requires ac- quisition from multiple view-points. These views are then required to be registered in a common coordinate system by establishing correspon- dence between them in their regions of overlap. In this paper, we present an automatic correspondence technique for pair-wise registration of dif- ferent views of a free-form ob ject. The technique is based upon a novel robust representation scheme reported in this paper. Our representation scheme defines local 3-D grids over the ob ject’s surface and represents the surface inside each grid by a fourth order tensor. Multiple tensors are built for the views which are then matched, using a correlation and verification technique to establish correspondence between a model and a scene tensor. This correspondence is then used to derive a rigid trans- formation that aligns the two views. The transformation is verified and refined using a variant of ICP. Our correspondence technique is fully automatic and does not assume any knowledge of the viewpoints or re- gions of overlap of the data sets. Our results show that our technique is accurate, robust, efficient and independent of the resolution of the views.