Object recognition and localization via pose clustering
Computer Vision, Graphics, and Image Processing
The design and analysis of spatial data structures
The design and analysis of spatial data structures
Advanced animation and rendering techniques
Advanced animation and rendering techniques
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
Hesitant adaptive search for global optimisation
Mathematical Programming: Series A and B
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Geometric Hashing: An Overview
IEEE Computational Science & Engineering
Multi-scale EM-ICP: A Fast and Robust Approach for Surface Registration
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
Implementation techniques for geometric branch-and-bound matching methods
Computer Vision and Image Understanding
Registration of point cloud data from a geometric optimization perspective
Proceedings of the 2004 Eurographics/ACM SIGGRAPH symposium on Geometry processing
A Robust Algorithm for Point Set Registration Using Mixture of Gaussians
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
Geometry and Convergence Analysis of Algorithms for Registration of 3D Shapes
International Journal of Computer Vision
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
4-points congruent sets for robust pairwise surface registration
ACM SIGGRAPH 2008 papers
Global Optimization through Rotation Space Search
International Journal of Computer Vision
Branch-and-Bound Methods for Euclidean Registration Problems
IEEE Transactions on Pattern Analysis and Machine Intelligence
Stochastic Optimization for Rigid Point Set Registration
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Point Set Registration via Particle Filtering and Stochastic Dynamics
IEEE Transactions on Pattern Analysis and Machine Intelligence
ICNC '10 Proceedings of the 2010 First International Conference on Networking and Computing
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
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In this paper, we propose a new algorithm for pairwise rigid point set registration with unknown point correspondences. The main properties of our method are noise robustness, outlier resistance and global optimal alignment. The problem of registering two point clouds is converted to a minimization of a nonlinear cost function. We propose a new cost function based on an inverse distance kernel that significantly reduces the impact of noise and outliers. In order to achieve a global optimal registration without the need of any initial alignment, we develop a new stochastic approach for global minimization. It is an adaptive sampling method which uses a generalized BSP tree and allows for minimizing nonlinear scalar fields over complex shaped search spaces like, e.g., the space of rotations. We introduce a new technique for a hierarchical decomposition of the rotation space in disjoint equally sized parts called spherical boxes. Furthermore, a procedure for uniform point sampling from spherical boxes is presented. Tests on a variety of point sets show that the proposed registration method performs very well on noisy, outlier corrupted and incomplete data. For comparison, we report how two state-of-the-art registration algorithms perform on the same data sets.