Generalizing the hough transform to detect arbitrary shapes
Readings in computer vision: issues, problems, principles, and paradigms
Recognizing solid objects by alignment with an image
International Journal of Computer Vision
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Object modelling by registration of multiple range images
Image and Vision Computing - Special issue: range image understanding
SCG '94 Proceedings of the tenth annual symposium on Computational geometry
Combinatorial and experimental results for randomized point matching algorithms
Proceedings of the twelfth annual symposium on Computational geometry
An optimal algorithm for approximate nearest neighbor searching fixed dimensions
Journal of the ACM (JACM)
Geometric matching under noise: combinatorial bounds and algorithms
Proceedings of the tenth annual ACM-SIAM symposium on Discrete algorithms
IEEE Transactions on Pattern Analysis and Machine Intelligence
Geometric Hashing: An Overview
IEEE Computational Science & Engineering
Fingerprint Matching Using Transformation Parameter Clustering
IEEE Computational Science & Engineering
RoboScan: An Automatic System for Accurate and Unattended 3D Scanning
3DPVT '04 Proceedings of the 3D Data Processing, Visualization, and Transmission, 2nd International Symposium
Registration of point cloud data from a geometric optimization perspective
Proceedings of the 2004 Eurographics/ACM SIGGRAPH symposium on Geometry processing
Shape segmentation using local slippage analysis
Proceedings of the 2004 Eurographics/ACM SIGGRAPH symposium on Geometry processing
Efficient Shape Matching Using Shape Contexts
IEEE Transactions on Pattern Analysis and Machine Intelligence
Salient geometric features for partial shape matching and similarity
ACM Transactions on Graphics (TOG)
Global non-rigid alignment of 3-D scans
ACM SIGGRAPH 2007 papers
Example-based 3D scan completion
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
Multi-scale features for approximate alignment of point-based surfaces
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
Probabilistic fingerprints for shapes
SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing
Principal curvatures from the integral invariant viewpoint
Computer Aided Geometric Design
Robust Voronoi-based curvature and feature estimation
2009 SIAM/ACM Joint Conference on Geometric and Physical Modeling
Stochastic Optimization for Rigid Point Set Registration
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Rotating scans for systematic error removal
SGP '09 Proceedings of the Symposium on Geometry Processing
Non-local scan consolidation for 3D urban scenes
ACM SIGGRAPH 2010 papers
Data-driven suggestions for creativity support in 3D modeling
ACM SIGGRAPH Asia 2010 papers
Proceedings of the 32nd DAGM conference on Pattern recognition
Local shape descriptor selection for object recognition in range data
Computer Vision and Image Understanding
Single viewpoint model completion of symmetric objects for digital inspection
Computer Vision and Image Understanding
An efficient RANSAC for 3D object recognition in noisy and occluded scenes
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part I
Complex and photo-realistic scene representation based on range planar segmentation and model fusion
International Journal of Robotics Research
Stochastic global optimization for robust point set registration
Computer Vision and Image Understanding
Plane-based registration of construction laser scans with 3D/4D building models
Advanced Engineering Informatics
Hong-Tan based ICP registration for partially overlapping range images
Proceedings of the 10th International Conference on Virtual Reality Continuum and Its Applications in Industry
Rigid 3D geometry matching for grasping of known objects in cluttered scenes
International Journal of Robotics Research
Exploring collections of 3D models using fuzzy correspondences
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
A robust high-capacity affine-transformation-invariant scheme for watermarking 3D geometric models
ACM Transactions on Multimedia Computing, Communications, and Applications (TOMCCAP) - Special Issue on Multimedia Security
Field-guided registration for feature-conforming shape composition
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Fast and robust semi-automatic registration of photographs to 3D geometry
VAST'11 Proceedings of the 12th International conference on Virtual Reality, Archaeology and Cultural Heritage
Verification and acceptance tests for high definition 3D surface scanners
VAST'10 Proceedings of the 11th International conference on Virtual Reality, Archaeology and Cultural Heritage
Hierarchical Normal Space Sampling to speed up point cloud coarse matching
Pattern Recognition Letters
Performance capture of interacting characters with handheld kinects
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part II
International Journal of Computer Vision
A Scale Independent Selection Process for 3D Object Recognition in Cluttered Scenes
International Journal of Computer Vision
Fully Automatic Registration of Image Sets on Approximate Geometry
International Journal of Computer Vision
Transformed polynomials for global registration of point clouds
Proceedings of the 27th Spring Conference on Computer Graphics
3D Scene Reconstruction from Multiple Spherical Stereo Pairs
International Journal of Computer Vision
Fast rotation search for real-time interactive point cloud registration
Proceedings of the 18th meeting of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Sparse iterative closest point
SGP '13 Proceedings of the Eleventh Eurographics/ACMSIGGRAPH Symposium on Geometry Processing
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We introduce 4PCS, a fast and robust alignment scheme for 3D point sets that uses wide bases, which are known to be resilient to noise and outliers. The algorithm allows registering raw noisy data, possibly contaminated with outliers, without pre-filtering or denoising the data. Further, the method significantly reduces the number of trials required to establish a reliable registration between the underlying surfaces in the presence of noise, without any assumptions about starting alignment. Our method is based on a novel technique to extract all coplanar 4-points sets from a 3D point set that are approximately congruent, under rigid transformation, to a given set of coplanar 4-points. This extraction procedure runs in roughly O(n2 + k) time, where n is the number of candidate points and k is the number of reported 4-points sets. In practice, when noise level is low and there is sufficient overlap, using local descriptors the time complexity reduces to O(n + k). We also propose an extension to handle similarity and affine transforms. Our technique achieves an order of magnitude asymptotic acceleration compared to common randomized alignment techniques. We demonstrate the robustness of our algorithm on several sets of multiple range scans with varying degree of noise, outliers, and extent of overlap.