A Method for Registration of 3D Surfaces ICP Algorithm

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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 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
ICP Algorithm

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