In this paper we tackle the problem of automatically aligning an unordered set of range views. We propose a full pipeline that goes from the scans to the complete 3D model. The emphasis is on the automation – no manual in- tervention is require – and on the fact that no knowledge on the acquisition sequence is assumed. The contribution is twofold: in the pre-alignment phase a voting scheme is proposed that discovers the overlapping relationship among views; in the final refinement step we extend the Levenberg Marquardt-ICP to work with multiple views, in order to solve for the absolute pose of all images simultaneously.
