Fast Multiview 3D Scan Registration Using Planar Structures

Uttaran Bhattacharya, Sumit Veerawal, Venu Madhav Govindu

Abstract: We present a fast and lightweight method for 3D registration of scenes by exploiting the presence of planar regions. Since planes can be easily and accurately represented by parametric models, we can both efficiently and accurately solve for the motion between pairs of 3D scans. Additionally, our method can also utilize the available non-planar regions if necessary to resolve motion ambiguities. The result is a fast and accurate method for 3D scan registration that can also be easily utilized in a multiview registration framework based on motion averaging. We present extensive results on datasets containing planar regions to demonstrate that our method yields results comparable in accuracy with the state-of-the-art while only taking a fraction of computation time compared with conventional approaches that are based on motion estimates through 3D point correspondences.