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That was how we register two views. How about n views?
The traditional approach is to add an extra loop to ICP. First, one takes a view apart and tries to register it against all the other views by finding the closest points in them and moving the view closer. But, because the other views are not in good registration, one can make very little progress. Then the same is tried with another view, and so on.
Determining point correspondences is by far the slowest part of any registration method, and in this approach it needs to be done over and over again. This makes the whole thing very slow. Additionally, it is not too difficult to get stuck into a local minimum.