Ó 2002 Marc Levoy
•steps
–1.  manual initial alignment
 - should have tracked gantry
–2.  ICP to one existing scan
 [Besl92]
–3.  automatic ICP of all overlapping pairs
 [Rusinkiewicz01]
–4.  global relaxation to spread out error
 [Pulli99]
–5.  merging using volumetric method
 [Curless96]
Digital Michelangelo Project
range processing pipeline