Join Tensors: On 3D-to-3D Alignment of Dynamic Sets

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ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 1
Year:
2000

Citing 0
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Abstract

This paper introduces a family of 4 脳 4 脳 4 tensors, referred to as 驴join tensors驴 or Jtensors for short, which perform 驴3D to 3D驴 alignment between coordinate systems of sets of dynamic 3D points. 3D Configurations of points are obtained by a 3D measuring device (such as a structured light or laser range sensor, or a stereo rig) at times t1; t2; t3 from different viewing positions in addition to the motion of the sensor the points are also allowed to move in space; each point can move along an arbitrary straight-line path we refer to this situation as 驴dynamic驴. The problem is to recover the motion of the sensor given the 3D correspondences of the points over time.We introduce Jtensors to capture the problem described above. Three observations P; P?; P?? of a point measured at three time instants contribute a linear measurement to the Jtensor, regardless of whether the point has moved in space or has remained stationary while the sensor has changed position.