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This paper proposes a global approach for the multi-view registration ofunordered range scans. As the basis of multi-view registration, pair-wiseregistration is very pivotal. Therefore, we first select a good descriptor andaccelerate its correspondence propagation for the pair-wise registration. Then,we design an effective rule to judge the reliability of pair-wise registrationresults. Subsequently, we propose a model augmentation method, which canutilize reliable results of pair-wise registration to augment the model shape.Finally, multi-view registration can be accomplished by operating the pair-wiseregistration and judgment, and model augmentation alternately. Experimentalresults on public available data sets show, that this approach canautomatically achieve the multi-view registration of unordered range scans withgood accuracy and effectiveness.

Multi-view registration of unordered range scans by fast correspondence propagation of multi-scale descriptors