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
Iterative point matching for registration of free-form curves and surfaces
International Journal of Computer Vision
A robust method for registration and segmentation of multiple range images
Computer Vision and Image Understanding
Estimating 3-D rigid body transformations: a comparison of four major algorithms
Machine Vision and Applications - Special issue on performance evaluation
Statistical Approaches to Feature-Based Object Recognition
International Journal of Computer Vision
A view of the EM algorithm that justifies incremental, sparse, and other variants
Proceedings of the NATO Advanced Study Institute on Learning in graphical models
Statistical Optimization for Geometric Computation: Theory and Practice
Statistical Optimization for Geometric Computation: Theory and Practice
Scale-Space Theory in Computer Vision
Scale-Space Theory in Computer Vision
A Pyramid Framework for Early Vision: Multiresolutional Computer Vision
A Pyramid Framework for Early Vision: Multiresolutional Computer Vision
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
A Stochastic Iterative Closest Point Algorithm (stochastICP)
MICCAI '01 Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention
A Feature Registration Framework Using Mixture Models
MMBIA '00 Proceedings of the IEEE Workshop on Mathematical Methods in Biomedical Image Analysis
Registration and Integration of Multiple Range Images for 3-D Model Construction
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
A pyramid approach to subpixel registration based on intensity
IEEE Transactions on Image Processing
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
Range Image Fusion for Object Reconstruction and Modeling
CRV '04 Proceedings of the 1st Canadian Conference on Computer and Robot Vision
Alignment of Continuous Video onto 3D Point Clouds
IEEE Transactions on Pattern Analysis and Machine Intelligence
A mean field annealing approach to accurate free form shape matching
Pattern Recognition
Registration of Challenging Image Pairs: Initialization, Estimation, and Decision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fast Non-Rigid Surface Detection, Registration and Realistic Augmentation
International Journal of Computer Vision
Registration of combined range-intensity scans: Initialization through verification
Computer Vision and Image Understanding
Replicator Dynamics in the Iterative Process for Accurate Range Image Matching
International Journal of Computer Vision
The mixtures of Student's t-distributions as a robust framework for rigid registration
Image and Vision Computing
Setting Priors and Enforcing Constraints on Matches for Nonlinear Registration of Meshes
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part II
Accelerating Feature Based Registration Using the Johnson-Lindenstrauss Lemma
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Improved registration for large electron microscopy images
ISBI'09 Proceedings of the Sixth IEEE international conference on Symposium on Biomedical Imaging: From Nano to Macro
IS4TM'03 Proceedings of the 2003 international conference on Surgery simulation and soft tissue modeling
Surface-to-surface registration using level sets
SCIA'07 Proceedings of the 15th Scandinavian conference on Image analysis
Affine iterative closest point algorithm for point set registration
Pattern Recognition Letters
Shape analysis using a point-based statistical shape model built on correspondence probabilities
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Scaling iterative closest point algorithm for registration of m-D point sets
Journal of Visual Communication and Image Representation
Free form shape registration using the barrier method
Computer Vision and Image Understanding
Robust 3D object registration without explicit correspondence using geometric integration
Machine Vision and Applications - Integrated Imaging and Vision Techniques for Industrial Inspection
Pattern Recognition Letters
Accurate overlap area detection using a histogram and multiple closest points
ICCVG'10 Proceedings of the 2010 international conference on Computer vision and graphics: Part II
An efficient EM-ICP algorithm for symmetric consistent non-linear registration of point sets
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part II
A Novel Kernel Correlation Model with the Correspondence Estimation
Journal of Mathematical Imaging and Vision
3D modeling using a statistical sensor model and stochastic search
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Spatially adaptive log-euclidean polyaffine registration based on sparse matches
MICCAI'11 Proceedings of the 14th international conference on Medical image computing and computer-assisted intervention - Volume Part II
Stochastic global optimization for robust point set registration
Computer Vision and Image Understanding
Unified point selection and surface-based registration using a particle filter
MICCAI'05 Proceedings of the 8th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
The alignment between 3-d data and articulated shapes with bending surfaces
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part III
A Reparameterisation Based Approach to Geodesic Constrained Solvers for Curve Matching
International Journal of Computer Vision
Coregistration: simultaneous alignment and modeling of articulated 3d shape
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part VI
Groupwise rigid registration of wrist bones
MICCAI'12 Proceedings of the 15th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part II
Robust shape correspondence via spherical patch matching for atlases of partial skull models
MeshMed'12 Proceedings of the 2012 international conference on Mesh Processing in Medical Image Analysis
Robust Bayesian fitting of 3D morphable model
Proceedings of the 10th European Conference on Visual Media Production
Bayesian perspective for the registration of multiple 3D views
Computer Vision and Image Understanding
Sparse iterative closest point
SGP '13 Proceedings of the Eleventh Eurographics/ACMSIGGRAPH Symposium on Geometry Processing
Hi-index | 0.00 |
We investigate in this article the rigid registration of large sets of points, generally sampled from surfaces. We formulate this problem as a general Maximum-Likelihood (ML) estimation of the transformation and the matches. We show that, in the specific case of a Gaussian noise, it corresponds to the Iterative Closest Point algorithm(ICP) with the Mahalanobis distance.Then, considering matches as a hidden variable, we obtain a slightly more complex criterion that can be efficiently solved using Expectation-Maximization (EM) principles. In the case of a Gaussian noise, this new methods corresponds to an ICP with multiple matches weighted by normalized Gaussian weights, giving birth to the EM-ICP acronym of the method.The variance of the Gaussian noise is a new parameter that can be viewed as a "scale or blurring factor" on our point clouds. We show that EMICP robustly aligns the barycenters and inertia moments with a high variance, while it tends toward the accurate ICP for a small variance. Thus, the idea is to use a multi-scale approach using an annealing scheme on this parameter to combine robustness and accuracy. Moreover, we show that at each "scale", the criterion can be efficiently approximated using a simple decimation of one point set, which drastically speeds up the algorithm.Experiments on real data demonstrate a spectacular improvement of the performances of EM-ICP w.r.t. the standard ICP algorithm in terms of robustness (a factor of 3 to 4) and speed (a factor 10 to 20), with similar performances in precision. Though the multiscale scheme is only justified with EM, it can also be used to improve ICP, in which case the performances reaches then the one of EM when the data are not too noisy.