Registration of range images that preserves local surface structures and color

We propose an ICP-based registration method for range images that preserves fundamental features, i.e., local structures and color, of object surfaces. The method employs local surfaces as an attribute for establishing correspondences between range images where local surfaces are evaluated geometrically and photometrically. In estimating correspondences between range images, our method evaluates consistency of shape patterns and chromaticity of local surfaces together. In estimating transformation parameters relating the coordinates between different range images, on the other hand, our method evaluates skewness and chromaticity of correspondences. These two kinds of evaluation enhances accuracy of the estimation and results in preserving local structures and color of object surfaces.