1-1-8 
Table 4. Strength in each matched line segment pair after 
coarse matching 
Matched 
Pair (#/,#/) 
AR° 
u 
(degree) 
ASh° 
V.° 
V 
X (pixel) 
Y (pixel) 
EQ.20 
EQ.20 
EQ.20 
EQ.21 
(2,0) 
0.09785 
1.1414 
-1.417 
1213.44 
(0,1) 
0.001745 
0.5634 
-0.638 
376.91 
(3,2) 
0.001745 
0.341 
-0.437 
-8.24698 
(1,3) 
-0.00145 
-0.884 
1.2286 
405.803 
(5,5) 
0.001745 
0.331 
-0.383 
7.019176 
0.0 (in') Residual 0.2 (m) and more 
Table 5. Adjustment obtained by strength analysis after 
coarse matching 
O 
< 
AR° 
(radius) 
ASh° 
X (m) 
Y(m) 
EQ.22 
0.001075 
0.6196 
-0.5641 
Figure 5 Change of Distance Measure in Fine Adjustment 
Figure 8. Matching of ground points to trace the 
translation in Z-axis. Color points serve as background for 
better understanding. Gray points show the residual 
between the z-coordinates of the ground points in two 
views. Left figure shows the original data, while right figure 
is the matching result. Circular marks stand for the view 
points of two views. 
110000 
y 105000 
1 100000 
^ 95000 
1 90000 
2 85000 
80000 
Figure 9. Pair-wise registration result. Viewl is shown in 
red, while view2 in blue. Pink tells the exact match 
between two views. Top figure shows the matching la laser 
range points. Buttom figure shows the matching of Z- 
Images. 
4.2 Experiment of multiple views’ registration 
Figure 7 Change of Estimation Error in Fine Adjustment 
9 
1 15 
j i 
1 °o 
LU 
-05 
-’^‘^-ococoaiCsjLOco — "3- r~- o co co <? 
y— ^ Xi r-. ** (>^ *6 Qsj sx Qsjig. c ^ xi' c*) ¿z & ^ ¡¿¿¿^ 
Iteration No. 
♦ Estimation Error in Rotation Angle (degree) 
“•—Estimation Error in Shift Vector (meter) 
A relatively large scale experiment was conducted to 
construct the spatial model of the buildings in IIS, Univ. of 
Tokyo. Since the target object is large and time cost for 
each view’s measurement is high, it is not permitted to let 
the viewpoints between different view measurement too 
close. 29 views of laser range image were measured 
around the major building in IIS. The views are first 
aligned to view #1’s coordinate system by pair-wise 
registering successive view, then minimizing the violation 
to local matching by a hill climbing method. Figure 10 
shows the location for the viewpoint using star mark and