3D Scan Matching and Registration

1. Szymon Rusinkiewicz Michael Kazhdan Benedict Brown Princeton University Johns Hopkins University Princeton University 3D Scan Matching and Registration ICCV 2005 Short Course

2. Themes • Techniques involving (3D) geometric similarity • Determining pose, correspondences, or both • Context: 3D range image processing pipeline

3. Steps 1. Initial alignment 2. Pairwise alignment 3. Global relaxation to spread out error 4. Merge scans Range Processing Pipeline [Pulli]

4. Range Processing Pipeline Steps 1. Initial alignment 2. Pairwise alignment 3. Global relaxation to spread out error 4. Merge scans [Pulli]

5. Range Processing Pipeline Steps 1. Initial alignment 2. Pairwise alignment 3. Global relaxation to spread out error 4. Merge scans [Pulli]

6. Range Processing Pipeline Steps 1. Initial alignment 2. Pairwise alignment 3. Global relaxation to spread out error 4. Merge scans [Pulli]

7. Range Processing Pipeline Steps 1. Initial alignment 2. Pairwise alignment 3. Global relaxation to spread out error 4. Merge scans [Pulli]

8. Schedule • 3D Shape Matching – Michael KazhdanBreak • Rigid-body pairwise and global alignment – Szymon Rusinkiewicz • Non-rigid global alignment for large scans – Benedict Brown