Precise Registration of 3D Images Acquired from a Hand-Held Visual Sensor

13th International Conference on Advanced Concepts for Intelligent Vision Systems (ACIVS) / 5th ACM/IEEE International Conference on Distributed Smart Cameras (ICDSC), Ghent Univ, Ghent, BELGIUM, AUG 22-25, 2011International audienceThis paper presents a method for precise registration of 3D images acquired from a new sensor for 3D digitization moved manually by an operator around an object. The system is equipped with visual and inertial devices and with a speckle pattern projector. The presented method has been developed to address the problem that a moving speckle pattern during a sequence prevents from correlating points between images acquired from two successive viewpoints. So several solutions are proposed, based on images acquired with a moving speckle pattern. It improves ICP-based methods classically used for precise registration of two clouds of 3D points