Song, PengChen, XiaopingStam, Jos and Mitra, Niloy J. and Xu, Kun2015-10-072015-10-072015978-3-905674-96-5http://dx.doi.org/10.2312/pg.20151272Surface registration is the process that brings scans into a common coordinate system by aligning their overlapping components, which can be achieved by finding a few pairs of matched points on each scan pair using shape descriptors and employing the matches to compute an alignment transformation. This paper proposes a local voxelizer descriptor, and the key idea is to define a unique local reference frame (LRF) using the local shape around a basis point, perform voxlization for the local shape within a cubical volume aligned with the LRF, and concatenate local features extracted from each voxel to construct the descriptor. A pairwise registration algorithm is developed by choosing a single pair of matched points using the local voxelizer descriptor, and computing a rigid transformation based on aligning the corresponding LRFs. Quantitative experiments show that our algorithm can register scan pairs with small overlap, while maintaining acceptable registration accuracy.I.3.5 [Computer Graphics]Computational Geometry and Object ModelingSurfaces and object representations10.2312/pg.201512721-6