3D Geometric Primitive Alignment Revisited.

Rigid registration is an important step in 3D scanning and modeling of manufactured objects that are generally composed of a combination of basic geometric primitives such as planes, spheres, cylinders, etc. In this paper, an efficient and robust method is proposed to align two basic geometric primitives. The transformation between two primitives is found by minimizing the parameter error between primitive correspondences. The approach applies an interior-point method and a new objective function to achieve good results. Compared to previous primitive-based alignment approach proposed by Rabbani et al. (Rabbani et al., 2007), the presented approach achieves better results in terms of convergence and accuracy. Finally, the proposed method is used in various applications such as data completion and primitive-based registration for quality control and inspection.