Surface Registration at 10Hz Based on Landmark-Graphs: Benefits for a Scalable Remote Viewing System

Abstract

Real-time surface registration is a key technology for the development of future remote viewing systems. An architecture for a video distribution system supporting multiple users, with individual viewpoint selection, is suggested. The approach would provide a transmission bandwidth independent of the number of users, for scalability. The proposed architecture uses a method of surface registration based on landmark-graphs. Results from 141 test trials on synthetic scenes indicate that a mean absolute positioning accuracy under 1% of the sensor field of view is possible. The mean rate for registration was 10Hz, with a standard deviation under 10%. Tests were benchmarked on a 900MHz PC. The sensor images were 200x200 pixels and contained both range and color imagery