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
Approximating polyhedra with spheres for time-critical collision detection
ACM Transactions on Graphics (TOG)
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Multidimensional binary search trees used for associative searching
Communications of the ACM
Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs
IEEE Transactions on Visualization and Computer Graphics
Efficient collision detection of complex deformable models using AABB trees
Journal of Graphics Tools
Adaptive medial-axis approximation for sphere-tree construction
ACM Transactions on Graphics (TOG)
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
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This paper proposes a new method for representing 3D shapes based on spatial approximation by spheres with discretized radii. The shape representation is composed of several levels of spherical expressions that characterize the spatial resolution of a given model. The radius of spheres in each level of expression is determined based on a volumetric primitive which is defined by bounding the given shape. This multilevel surface modeling is useful not only for hierarchical model operations like collision detection, database retrieval and so on, but also for hierarchical partial shape matching with a portion of object surface. We applied our shape representation method to range image registration by an ICP algorithm. As a result, it was proved that the method is very effective for model matching and registration, and also its computational cost is remarkably reduced compared with the original ICP algorithm.