| Abstract |
We consider the problem of simultaneously registering several
images to a 3D model. We propose a global approach based on
mutual information that extends previous methods to incorporate the
color, and does not require segmentation or feature extraction. We give a
stochastic model for joint optimization of multiple image-to-model alignment
and we propose a heuristic to solve it. Experiments with synthetic
models showed that our algorithm is robust to varying illumination and
surface characteristics. Experiments with real data showed that we can
achieve very good accuracy even for an object with highly specular surface,
in moderate lighting conditions. |