Problem Description Collect a set of range images into a single polygonal mesh that completely describes an object as a solid. A single range image is insufficient - it usually requires quite a few images. Two interesting research questions are how many views of an object are sufficient, and how to plan the next view to decrease model uncertainty. If points are not joined, then other scans will hopefully fill in the data better.
Strategy is to use high quality data as much as possible and discard data that is questionable.
In typical sensing situation, motorized control is used to move either the object or the scanner for each scan. If this motion is known and quantified, a simple rigid transformation can be used to bring the scans into full registration. However, if we need to move the object on the rotation table to scan top or bottom, we lose the ability to cpmpute the transform directly. The approach in Zipper is to do on screen interactive registration where the user can control the placement of each set of scan points. An Iterated Closest Point algorithm is used to refine the registration.