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A Method for Registration of 3D Surfaces ICP Algorithm PowerPoint PPT Presentation

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

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A Method for Registration of 3D Surfaces ICP Algorithm

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A method for registration of 3d surfaces icp algorithm l.jpg

A Method for Registration of 3D SurfacesICP Algorithm

Erhan Avinal


Introduction l.jpg

Introduction

  • Building 3D models of real world objects

    • Data capture using range camera

    • Registration

    • Data merge


Registration goal l.jpg

Registration - Goal

  • To transform sets of surface measurements into a common coordinate system

  • A model shape and a data shape


Registration l.jpg

Registration

  • If we know correct correspondences, we can find correct translation and rotation


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Rotation and translation

Registration

  • Issue : Finding corresponding points

  • ICP : Assume closest points correspond to each other, compute the best transform


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ICP Algorithm

Can be used with


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Distance

  • Euclidian distances

  • Point to point set

  • Point to line segment

  • Point to triangle

  • Point to parametric entity

  • Point to implicit entity


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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


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Other Issues

  • Color matching

    • Sharp, 2002

    • Godin, 1995

    • Johnson, 1997

  • Orientation

    • Godin 2001

    • Schutz 1998


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Other Issues

  • Weighting

    • Important nodes

  • Initial point selection

    • Uniform sampling

    • Random

    • Select in regions of high curvature

  • k-d trees to find closest points


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Results


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Results


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Results


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Results


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Results


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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


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Future Work

  • Computational speedup

  • Parallel testing

  • Allow deformations


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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/3DVision/model_building/model.html


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Thanks


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