  Multi-view registration is a fundamental but challenging problem in 3D
reconstruction and robot vision. Although the original motion averaging
algorithm has been introduced as an effective means to solve the multi-view
registration problem, it does not consider the reliability and accuracy of each
relative motion. Accordingly, this paper proposes a novel motion averaging
algorithm for multi-view registration. Firstly, it utilizes the pair-wise
registration algorithm to estimate the relative motion and overlapping
percentage of each scan pair with a certain degree of overlap. With the
overlapping percentage available, it views the overlapping percentage as the
corresponding weight of each scan pair and proposes the weight motion averaging
algorithm, which can pay more attention to reliable and accurate relative
motions. By treating each relative motion distinctively, more accurate
registration can be achieved by applying the weighted motion averaging to
multi-view range scans. Experimental results demonstrate the superiority of our
proposed approach compared with the state-of-the-art methods in terms of
accuracy, robustness and efficiency.
