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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

A Method for Registration of 3D Surfaces ICP Algorithm

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## A Method for Registration of 3D SurfacesICP 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

Rotation and translation

### Registration

• Issue : Finding corresponding points

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

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

• Important nodes

• Initial point selection

• Uniform sampling

• Random

• Select in regions of high curvature

• k-d trees to find closest points

### 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/3DVision/model_building/model.html