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16 September 2003 A technique for constructing an integrated scene from multiple viewing angles using a tactical ranging sensor
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Abstract
The problem of seamless scene integration from multiple 3-dimensional views of a location for surveillance or recognition purposes is one that continues to receive much interest. This technique holds the promise of increased ability to detect concealed targets, as well as better visualization of the scene itself. The process of creating an integrated scene 'model' from multiple range images taken at different views of the scene consists of several basic steps: (1) Matching of scene points across views, (2) Registration of the multiple views to a common reference frame, and (3) Integration of the multiple views into a complete 3D representation (such as a mesh or voxel space). We propose using a technique known as spin-map correlation to compute the initial scene point correspondences between views. This technique has the advantage of being able to perform the registration with minimal knowledge of viewing geometry or viewer location - the only requirement is that there is overlap between views. Registration is performed using the correspondences generated from spin-map matching to seed an Iterative Closest Point (ICP) algorithm. The ICP algorithm grows the list of correspondences and estimates the rigid transformation between the multiple views. Following registration of the disparate views, the surface is represented probabilistically in a voxel space that is then polygonised into a triangular facet model using the well-known marching cubes algorithm. We demonstrate this procedure using LADAR range images of an armored vehicle of interest.
© (2003) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Peter J. VanMaasdam and Jack G. Riddle "A technique for constructing an integrated scene from multiple viewing angles using a tactical ranging sensor", Proc. SPIE 5094, Automatic Target Recognition XIII, (16 September 2003); https://doi.org/10.1117/12.487059
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