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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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Presentation Transcript
introduction
Introduction
  • Building 3D models of real world objects
    • Data capture using range camera
    • Registration
    • Data merge
registration goal
Registration - Goal
  • To transform sets of surface measurements into a common coordinate system
  • A model shape and a data shape
registration
Registration
  • If we know correct correspondences, we can find correct translation and rotation
registration5

Rotation and translation

Registration
  • Issue : Finding corresponding points
  • ICP : Assume closest points correspond to each other, compute the best transform
icp algorithm
ICP Algorithm

Can be used with

distance
Distance
  • Euclidian distances
  • Point to point set
  • Point to line segment
  • Point to triangle
  • Point to parametric entity
  • Point to implicit entity
algorithm
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
Other Issues
  • Color matching
    • Sharp, 2002
    • Godin, 1995
    • Johnson, 1997
  • Orientation
    • Godin 2001
    • Schutz 1998
other issues10
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
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
Future Work
  • Computational speedup
  • Parallel testing
  • Allow deformations
references
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