a method for registration of 3d surfaces icp algorithm
DESCRIPTION
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 - PowerPoint PPT PresentationTRANSCRIPT
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A Method for Registration of 3D SurfacesICP Algorithm
Erhan Avinal
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Introduction
Building 3D models of real world objects Data capture using range camera Registration Data merge
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Registration - Goal
To transform sets of surface measurements into a common coordinate system
A model shape and a data shape
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Registration
If we know correct correspondences, we can find correct translation and rotation
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Registration
Issue : Finding corresponding points ICP : Assume closest points correspond to
each other, compute the best transform
Rotation and translation
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ICP AlgorithmCan 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/3DVisio
n/model_building/model.html
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Thanks