EFFICIENT VARIANTS OF THE ICP ALGORITHM. Szymon Rusinkiewicz Marc Levoy. Problem of aligning 3D models, based on geometry or color of meshes ICP is the chief algorithm used Used to register output of 3D scanners. Introduction. [1]. ICP.
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EFFICIENT VARIANTS OF THE ICP ALGORITHM
Szymon Rusinkiewicz
Marc Levoy
Problem of aligning 3D models, based on geometry or color of meshes
ICP is the chief algorithm used
Used to register output of 3D scanners
[1]
[2]
normal is < 45 degrees from the source
Sample scanning application
Shamelessly stolen from [3]
Smooth statues
Unfinished statues
Fragments
More shameless lifts from [3]
Incised Plane: Only the normal-space sampling converges
= bad results
Asymmetric algorithm
Two meshes is better
If overlap is small, two meshes is better
Closest point
Closest compatible point
Normal shooting
Normal shooting to a
compatible point
Projection
Projection followed by a search : uses steepest-descent neighbor-neighbor walk
k-d tree
Best: normal shooting
Worst: closest-point
Closest point converges: most robust
Best: Projection algorithm
Weight = 1 – [Dist(p1, p2)/Dist max]
Weight = n1* n2
Two pairs are inconsistent iff
| Dist(p1,p2) – Dist(q1,q2) |
Threshold:
0.1 * max(Dist(p1,p2) – Dist(q1,q2) )
1) SVD
2) Quaternions
3) Orthonormal Matrices
4) Dual Quaternions
Best: Point-to-plane error metric
Point-to-point cannot reach the right solution
1) Involving a user in a scanning process for alignment
“Next-best-view” problem
“Given a set of range images, to determine the position/orientation of the range scanner to scan all visible surfaces of an unknown scene” [4]
2) Model-based tracking of a rigid object
Former implementation using point-to-point metric
Point-to-plane is much faster
http://foto.hut.fi/opetus/ 260/luennot/9/9.html
http://graphics.stanford.edu/projects/mich/