A method for fine registration of multiple view range images considering the measurement error properties

This paper presents a new method for fine registration of two range images from different viewpoints that have been roughly registered. Our method takes into account the properties of the measurement error of the range images. The error distribution is different for each point of the image and is usually dependent on the viewing direction and the distance to the object surface. We find the best transformation of two range images to align each measured point and reconstruct 3D total object shape. The alignment is according to the distribution of the measurement errors, and the amount of the point position correction is according to its variance. The best transformation is selected by the evaluation of the facility of this correction of each measured point. The experiments showed that our method produced better results than the conventional ICP methods