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3D scan registration is a classical, yet a highly useful problem in thecontext of 3D sensors such as Kinect and Velodyne. While there are severalexisting methods, the techniques are usually incremental where adjacent scansare registered first to obtain the initial poses, followed by motion averagingand bundle-adjustment refinement. In this paper, we take a different approachand develop minimal solvers for jointly computing the initial poses of camerasin small loops such as 3-, 4-, and 5-cycles. Note that the classicalregistration of 2 scans can be done using a minimum of 3 point matches tocompute 6 degrees of relative motion. On the other hand, to jointly compute the3D registrations in n-cycles, we take 2 point matches between the first n-1consecutive pairs (i.e., Scan 1 & Scan 2, ... , and Scan n-1 & Scan n) and 1 or2 point matches between Scan 1 and Scan n. Overall, we use 5, 7, and 10 pointmatches for 3-, 4-, and 5-cycles, and recover 12, 18, and 24 degrees oftransformation variables, respectively. Using simulations and real-data we showthat the 3D registration using mini n-cycles are computationally efficient, andcan provide alternate and better initial poses compared to standard pairwisemethods.

Minimal Solvers for Mini-Loop Closures in 3D Multi-Scan Alignment