A mean field annealing approach to accurate free form shape matching
Pattern Recognition
Registration of combined range-intensity scans: Initialization through verification
Computer Vision and Image Understanding
Automatic segmentation of unorganized noisy point clouds based on the Gaussian map
Computer-Aided Design
Towards 3D Point cloud based object maps for household environments
Robotics and Autonomous Systems
Replicator Dynamics in the Iterative Process for Accurate Range Image Matching
International Journal of Computer Vision
3-D face detection, landmark localization, and registration using a point distribution model
IEEE Transactions on Multimedia
HSM3D: feature-less global 6DOF scan-matching in the Hough/Radon domain
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Fast point feature histograms (FPFH) for 3D registration
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Autonomous map construction using three-dimensional feature descriptors
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
An experimental assessment of the HSM3D algorithm for sparse and colored data
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Data-driven grasping with partial sensor data
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Affine iterative closest point algorithm for point set registration
Pattern Recognition Letters
Toward automated generation of parametric BIMs based on hybrid video and laser scanning data
Advanced Engineering Informatics
Multi-view scans alignment for 3D spherical mosaicing in large-scale unstructured environments
Computer Vision and Image Understanding
Fast registration based on noisy planes with unknown correspondences for 3-D mapping
IEEE Transactions on Robotics
Spectral registration of noisy sonar data for underwater 3D mapping
Autonomous Robots
MCV'10 Proceedings of the 2010 international MICCAI conference on Medical computer vision: recognition techniques and applications in medical imaging
Autonomous Robots
Plane-based registration of construction laser scans with 3D/4D building models
Advanced Engineering Informatics
Point-tessellated voxelization
Proceedings of Graphics Interface 2012
3D Geometric Scale Variability in Range Images: Features and Descriptors
International Journal of Computer Vision
Robotics and Computer-Integrated Manufacturing
Fully Automatic Registration of Image Sets on Approximate Geometry
International Journal of Computer Vision
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We propose a novel technique for the registration of 3D point clouds which makes very few assumptions: we avoid any manual rough alignment or the use of landmarks, displacement can be arbitrarily large, and the two point sets can have very little overlap. Crude alignment is achieved by estimation of the 3D-rotation from two Extended Gaussian Images even when the data sets inducing them have partial overlap. The technique is based on the correlation of the two EGIs in the Fourier domain and makes use of the spherical and rotational harmonic transforms. For pairs with low overlap which fail a critical verification step, the rotational alignment can be obtained by the alignment of constellation images generated from the EGIs. Rotationally aligned sets are matched by correlation using the Fourier transform of volumetric functions. A fine alignment is acquired in the final step by running Iterative Closest Points with just few iterations.