Range Data Registration in the Frequency Domain

Building 3D models is an important problem in several areas, such as forensic applications, medical applications, industrial inspection, or virtual visits of 3D synthetic environments. One way to build models is by acquiring range data images, by means of laser scanners, and then stitching them together. This implies registering, or aligning range data pairs. (Lucchese et al., 2002) introduces an original method to solve this problem, which operates in the frequency domain. The Fourier transform allows decoupling the estimation of the rotation parameters from the estimation of the translation parameters. The algorithm exploits this well-known property by suggesting a three-step procedure. The performance of the algorithm is assessed through extensive testing with several objects and shows that good and very robust estimates of 3D rigid motion are achievable, and are well suited for unsupervised registration. The algorithm can be used as a pre-alignment tool for more accurate space-domain registration techniques, like the ICP algorithm. These methods have been successfully deployed for building models of cultural heritage objects, and for registering computed tomography data.

Euclidean and Affine Registration in the Frequency Domain

Free-form 3D surfaces registration can be made more robust by integrating the surface albedo. (Cortelazzo et al., 1998) investigates this problem in the Fourier domain and proposes a new technique that uses radial projections of the frequency domain representation of the combined range and intensity data. An interesting extension of the algorithm can be used for the estimation of 3D affine transformations. The obtained results are useful per se in applications targeted to enhancing the visual quality of the models, or can serve as a good starting point for the ICP algorithm when a higher precision is needed.


  1. TPAMI
    A frequency domain technique for range data registration Lucchese, L., Doretto, G., and Cortelazzo, G. M. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2002. abstract bibTeX pdf
  2. ICIP
    Free-form textured surfaces registration by a frequency domaintechnique Cortelazzo, G. M., Doretto, G., and Lucchese, L. In Proceedings of IEEE International Conference on Image Processing, 1998. abstract bibTeX pdf