A Method for Registration of 3D Surfaces ICP Algorithm
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Transcript A Method for Registration of 3D Surfaces ICP Algorithm
A Method for Registration of 3D
Surfaces
ICP Algorithm
Erhan Avinal
Introduction
Building 3D models of real world objects
Data capture using range camera
Registration
Data merge
Registration - Goal
To transform sets of
surface measurements
into a common
coordinate system
A model shape and a
data shape
Registration
If we know correct correspondences, we can
find correct translation and rotation
Registration
Issue : Finding corresponding points
ICP : Assume closest points correspond to
each other, compute the best transform
Rotation and translation
ICP Algorithm
Can be used with
Distance
Euclidian distances
Point to point set
Point to line segment
Point to triangle
Point to parametric entity
Point to implicit entity
Algorithm
Point Set P with Np points, model shape X
Iterate until convergence
Compute closest points
Squared Euclidian distances
Compute registration (rotation and translation)
Apply the registration
New point set
Other Issues
Color matching
Sharp, 2002
Godin, 1995
Johnson, 1997
Orientation
Godin 2001
Schutz 1998
Other Issues
Weighting
Initial point selection
Important nodes
Uniform sampling
Random
Select in regions of high curvature
k-d trees to find closest points
Results
Results
Results
Results
Results
Conclusions
ICP can register a data shape to a model
shape
Independent of shape representation
Does not require preprocessing of 3D data
A good initial estimate of transformation is
required
High computation cost
Future Work
Computational speedup
Parallel testing
Allow deformations
References
Original Paper:
P.J. Besl, N.D. McKay,A Method of Registration of 3D
Shapes, 1992
T. Jost, Fast Geometric Matching for Shape
Registration, 2002
S.M. Rusinkiewicz, Real time Acquisition and
Rendering of Large 3D Models, 2001
http://www.ee.surrey.ac.uk/Research/VSSP/3DVisio
n/model_building/model.html
Thanks