@InProceedings{Cerman-CVWW07,
  IS = { zkontrolovano 05 Dec 2007 },
  UPDATE  = { 2007-03-16 },
  booktitle = { CVWW 2007: Proceedings of the 12th Computer Vision Winter Workshop },
  editor    = { Michael Grabner and Helmut Grabner },
  publisher = { Verlag der Technischen Universit{\"a}t Graz },
  address   = { Graz, Austria },
  isbn      = { 978-3-902465-60-3 },
  book_pages = { 146 },
  title     = { 3D Shape Registration with Estimating Illumination and Photometric Properties of a Convex Object },
  author    = { Cerman, Luk{\'a}{\v s} and Sugimoto, Akihiro and Shimizu, Ikuko},
  pages     = { 43--49 },
  year      = { 2007 },
  month     = { February },
  day       = { 6--8 },
  venue     = { St. Lambrecht, Austria },
  project   = { 1M0567 },
  keywords  = { 3D shape registration, ICP, registration, photometry },
  annote    = { To build a full 3D model of a physical object, multiple
     partially overlapping parts of an object model need to be merged. Since
     modern range finder devices provide color information in addition to the
     depth information, the color can be used to help the registration process
     as well as to qualitatively improve the reconstructed model by
     incorporating radiometric properties of its surface to the model
     description.  We propose a novel method for a convex Lambertian object
     which enables us to perform 3D registration and, at the same time, to
     estimate radiometric properties of the object.  This is achieved in an
     iterative manner by extending the Iterative Closest Point (ICP) algorithm
     by adding steps recovering incident illumination and surface albedo. The
     iterative process is repeated until convergence similarly as in the
     traditional ICP algorithm. The use of albedo in shape registration
     improves convergence of the ICP algorithm and reduces ambiguities caused
     by rotationally symmetric objects.},
}