Using Omnidirectional Structure from Motion for Registration of Range Images of Minimal Overlap

In this paper, we propose a novel method of merging a series of range images with a minimal overlap between any two consecutive range images. We rigidly mount a parabolic catadioptric camera to the range scanner. Using two omniviews we are able to accurately estimate the relative displacement between two range views. The resultant motion is used for the registration of all range data to the same coordinate system. An additional perspective camera calibrated with respect to the scanner is used for texture mapping.