Range Image Registration Using a Photometric Metric under Unknown Lighting

作者：Thomas Diego^*; Sugimoto Akihiro

来源：IEEE Transactions on Pattern Analysis and Machine Intelligence, 2013, 35(9): 2252-2269.

DOI：10.1109/TPAMI.2013.21

• Range image
• registration
• photometry
• spherical harmonics
• photometric reprojection

Based on the spherical harmonics representation of image formation, we derive a new photometric metric for evaluating the correctness of a given rigid transformation aligning two overlapping range images captured under unknown, distant, and general illumination. We estimate the surrounding illumination and albedo values of points of the two range images from the point correspondences induced by the input transformation. We then synthesize the color of both range images using albedo values transferred using the point correspondences to compute the photometric reprojection error. This way allows us to accurately register two range images by finding the transformation that minimizes the photometric reprojection error. We also propose a practical method using the proposed photometric metric to register pairs of range images devoid of salient geometric features, captured under unknown lighting. Our method uses a hypothesize-and-test strategy to search for the transformation that minimizes our photometric metric. Transformation candidates are efficiently generated by employing the spherical representation of each range image. Experimental results using both synthetic and real data demonstrate the usefulness of the proposed metric.

• 出版日期2013-9