Registration without ICP

被引：107

作者：

Pottmann, H ^{[1
]}

Leopoldseder, S ^{[1
]}

Hofer, M ^{[1
]}

机构：

[1] Vienna Univ Technol, Geometr Modeling & Ind Geometry Grp, A-1040 Vienna, Austria

来源：

COMPUTER VISION AND IMAGE UNDERSTANDING | 2004年 / 95卷 / 01期

基金：

奥地利科学基金会;

关键词：

registration; instantaneous kinematics; squared distance function; geometric optimization;

D O I：

10.1016/j.cviu.2004.04.002

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We present a new approach to the geometric alignment of a point cloud to a surface and to related registration problems. The standard algorithm is the familiar ICP algorithm. Here, we provide an alternative concept which relies on instantaneous kinematics and on the geometry of the squared distance function of a surface. The proposed algorithm exhibits faster convergence than ICP; this is supported both by results of a local convergence analysis and by experiments. (C) 2004 Elsevier Inc. All rights reserved.

引用

页码：54 / 71

页数：18

共 24 条

[11] Geometrically stable sampling for the ICP algorithm [J].

Gelfand, N ;

Ikemoto, L ;

Rusinkiewicz, S ;

Levoy, M .

FOURTH INTERNATIONAL CONFERENCE ON 3-D DIGITAL IMAGING AND MODELING, PROCEEDINGS, 2003, :260-267

[12] CLOSED-FORM SOLUTION OF ABSOLUTE ORIENTATION USING UNIT QUATERNIONS [J].

HORN, BKP .

JOURNAL OF THE OPTICAL SOCIETY OF AMERICA A-OPTICS IMAGE SCIENCE AND VISION, 1987, 4 (04) :629-642

[13]

Kelley C.T., 1999, Iterative Methods for Optimization, DOI DOI 10.1137/1.9781611970920

[14] A method for fine registration of multiple view range images considering the measurement error properties [J].

Okatani, IS ;

Deguchi, K .

COMPUTER VISION AND IMAGE UNDERSTANDING, 2002, 87 (01) :66-77

[15]

Pottmann H, 2003, VISUALIZATION AND MATHEMATICS III, P221

[16] Rotational and helical surface approximation for reverse engineering [J].

Pottmann, H ;

Randrup, T .

COMPUTING, 1998, 60 (04) :307-322

[17]

POTTMANN H, 2004, 117 VIENN U TECHN I

[18]

POTTMANN H, INT ARCH PHOTOGRA 3A, V34, P265

[19]

Pottmann H., 2001, MATH VISUAL

[20]

RODRIGUES M, 2002, SPECIAL ISSUE REGIST, V87, P1

← 1 2 3 →