The representation, recognition, and locating of 3-d objects
International Journal of Robotics Research
Adaptation in natural and artificial systems
Adaptation in natural and artificial systems
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
A survey of image registration techniques
ACM Computing Surveys (CSUR)
Zippered polygon meshes from range images
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
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
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IEEE Transactions on Pattern Analysis and Machine Intelligence
Registration and Integration of Multiple Object Views for 3D Model Construction
IEEE Transactions on Pattern Analysis and Machine Intelligence
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IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
MLESAC: a new robust estimator with application to estimating image geometry
Computer Vision and Image Understanding - Special issue on robusst statistical techniques in image understanding
The digital Michelangelo project: 3D scanning of large statues
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
ICP Registration Using Invariant Features
IEEE Transactions on Pattern Analysis and Machine Intelligence
Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms in Search, Optimization and Machine Learning
Registering Multiview Range Data to Create 3D Computer Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
Special issue on registration and fusion of range images
Computer Vision and Image Understanding - Registration and fusion of range images
Automatic crude patch registration: toward automatic 3D model building
Computer Vision and Image Understanding - Registration and fusion of range images
Parallel evolutionary registration of range data
Computer Vision and Image Understanding - Registration and fusion of range images
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Computer Vision and Image Understanding - Registration and fusion of range images
3D Reconstruction of the Human Jaw from A Sequence of Images
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Genetic Algorithms for Free-Form Surface Matching
ICPR '96 Proceedings of the International Conference on Pattern Recognition (ICPR '96) Volume IV-Volume 7472 - Volume 7472
Free-Form Surface Registration Using Surface Signatures
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Registration of Multiple Point Sets
ICPR '96 Proceedings of the 13th International Conference on Pattern Recognition - Volume 2
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
Hybrid methods using genetic algorithms for global optimization
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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Building a digital model of Michelangelo's Florentine Pieta
IEEE Computer Graphics and Applications
A mean field annealing approach to accurate free form shape matching
Pattern Recognition
Constraints for closest point finding
Pattern Recognition Letters
Image registration using genetic algorithms
Proceedings of the 10th annual conference on Genetic and evolutionary computation
Replicator Dynamics in the Iterative Process for Accurate Range Image Matching
International Journal of Computer Vision
Log-polar height maps for multiple range image registration
Computer Vision and Image Understanding
Fast point feature histograms (FPFH) for 3D registration
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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Image and Vision Computing
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
Automatic face segmentation and facial landmark detection in range images
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Rotation invariant non-rigid shape matching in cluttered scenes
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part V
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
Fast and Accurate 3D Face Recognition
International Journal of Computer Vision
Surface registration using extended polar maps
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
3D face matching using the surface interpenetration measure
ICIAP'05 Proceedings of the 13th international conference on Image Analysis and Processing
Robust three-dimensional registration of range images using a new genetic algorithm
GMP'06 Proceedings of the 4th international conference on Geometric Modeling and Processing
Pattern Recognition Letters
Multi-pose 3D face recognition based on 2D sparse representation
Journal of Visual Communication and Image Representation
Adding chaos to differential evolution for range image registration
EvoApplications'13 Proceedings of the 16th European conference on Applications of Evolutionary Computation
An evolutionary image matching approach
Applied Soft Computing
Quality time-of-flight range imaging for feature-based registration using bacterial foraging
Applied Soft Computing
Expert Systems with Applications: An International Journal
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Integrated Computer-Aided Engineering
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This paper addresses the range image registration problem for views having low overlap and which may include substantial noise. The current state of the art in range image registration is best represented by the well-known iterative closest point (ICP) algorithm and numerous variations on it. Although this method is effective in many domains, it nevertheless suffers from two key limitations: It requires prealignment of the range surfaces to a reasonable starting point and it is not robust to outliers arising either from noise or low surface overlap. This paper proposes a new approach that avoids these problems. To that end, there are two key, novel contributions in this work: a new, hybrid genetic algorithm (GA) technique, including hillclimbing and parallel-migration, combined with a new, robust evaluation metric based on surface interpenetration. Up to now, interpenetration has been evaluated only qualitatively; we define the first quantitative measure for it. Because they search in a space of transformations, GAs are capable of registering surfaces even when there is low overlap between them and without need for prealignment. The novel GA search algorithm we present offers much faster convergence than prior GA methods, while the new robust evaluation metric ensures more precise alignments, even in the presence of significant noise, than mean squared error or other well-known robust cost functions. The paper presents thorough experimental results to show the improvements realized by these two contributions.