Overview of 3D registration techniques including loop minimization for the complete acquisition of large manufactured parts and complex environments
2007
3D modelling is becoming an important research topic for visual inspection in automatic quality control. Through
visual inspection it is possible to determine whether a product fulfills the required specifications or whether it
contains surface or volume imperfections. Although some process such as color analysis can be achieved by 2D techniques, more challenging tasks such as volume inspection of large and complex objects/scenes may require the use of accurate 3D registration techniques. 3D Simultaneous Localization and Mapping has become a very
important research topic not only in the computer vision community for quality control applications but also
in the robotics field for solving problems such as robot navigation and registration of large surfaces. Although
their techniques differ slightly depending on the application, both communities tend to solve similar problems
by means of different approaches. This paper presents a survey of the techniques used by the robotics and
computer vision communities in which every approach has been compared pointing out their pros and cons and
their potential applications.
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