Aligning multi-view scans

摘要

Alignment techniques are described that automatically align multiple scans of an object obtained from different perspectives. Instead of relying solely on errors in local feature matching between a pair of scans to identify a best possible alignment, additional alignment possibilities may be considered. Grouped keypoint features of the pair of scans may be compared to keypoint features of an additional scan to determine an error between the respective keypoint features. Various alignment techniques may utilize the error to determine an optimal alignment for the scans.

主权项

1. A method implemented by a computing device, the method comprising:
forming a partial alignment for a plurality of scans of an object obtained from different perspectives including: recognizing keypoint features within the plurality of scans; assigning error values to potential matches between keypoint features of the plurality of scans; matching two or more keypoint features using the assigned error values to produce the partial alignment; computing an error associated with combining the partial alignment with one or more additional keypoint features; and determining whether to accept or reject the partial alignment based upon comparison of the computed error to a threshold established to prune potential alignments.