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4-Points Congruent Sets for Robust Pairwise Surface Registration

4-Points Congruent Sets for Robust Pairwise Surface Registration. Date : 01/01/26 Reporter : 鄒嘉恆. CVPR 2008. Introduction. They introduce 4PCS , a fast and robust alignment scheme for 3D point sets that uses wide bases , which are known to be resilient to noise and outliers .

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4-Points Congruent Sets for Robust Pairwise Surface Registration

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  1. 4-Points Congruent Sets for Robust Pairwise Surface Registration Date : 01/01/26 Reporter : 鄒嘉恆 CVPR 2008

  2. Introduction • They introduce 4PCS, a fast and robust alignment scheme for 3D point sets that uses wide bases, which are known to be resilient to noise and outliers.

  3. Outline • Motivation • Problem • Approximate congruent 4-Points • The 4PCS Algorithm • Experimental results • Conclusions

  4. Motivation • Two scans • Corrupted with noise and outliers. • In arbitrary initial poses with unknown overlap Refer to Dror A.’s slide on SIGGRAPH 2008

  5. Problem • Using wide base, not narrow-base • Registration first, denoising later. [Goodrich et al. 1994]

  6. Approximate congruent 4-Points

  7. Approximate congruent 4-Points • Affine invariants of 4-points set

  8. Approximate congruent 4-Points • Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008

  9. Approximate congruent 4-Points • Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008

  10. Approximate congruent 4-Points • Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008

  11. Approximate congruent 4-Points • Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008

  12. Approximate congruent 4-Points • Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008

  13. Approximate congruent 4-Points • Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008

  14. The 4PCS Algorithm Refer to Dror A.’s slide on SIGGRAPH 2008

  15. The 4PCS Algorithm Refer to Dror A.’s slide on SIGGRAPH 2008

  16. The 4PCS Algorithm Refer to Dror A.’s slide on SIGGRAPH 2008

  17. The 4PCS Algorithm Refer to Dror A.’s slide on SIGGRAPH 2008

  18. The 4PCS Algorithm

  19. The 4PCS Algorithm

  20. Experimental results • LD-RANSAC • Local descrptors: spin images [Li and Guskov 2005]

  21. Experimental results • LD-RANSAC • Local descrptors: spin images + integral invariants [Pottmann et al. 2007]

  22. Experimental results • Trial 1

  23. Experimental results • Trial 2

  24. Experimental results • Trial 2

  25. Experimental results • Trial 3

  26. Experimental results

  27. Experimental results

  28. Experimental results

  29. Experimental results • Limitation

  30. Conclusions • A coplanar 4-points base allow us to employ a technique the efficiently matches pairs of affine invariants ratios in 3D. • More faster. • Prevent noise and outliers.

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