Object recognition and localization via pose clustering
Computer Vision, Graphics, and Image Processing
Solid shape
Recognizing solid objects by alignment with an image
International Journal of Computer Vision
Surface shape and curvature scales
Image and Vision Computing
Estimating 3-D rigid body transformations: a comparison of four major algorithms
Machine Vision and Applications - Special issue on performance evaluation
Partial Surface and Volume Matching in Three Dimensions
IEEE Transactions on Pattern Analysis and Machine Intelligence
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
ICP Registration Using Invariant Features
IEEE Transactions on Pattern Analysis and Machine Intelligence
ACM Transactions on Graphics (TOG)
Geometric Hashing: An Overview
IEEE Computational Science & Engineering
Shape Matching and Object Recognition Using Shape Contexts
IEEE Transactions on Pattern Analysis and Machine Intelligence
Simplification and Repair of Polygonal Models Using Volumetric Techniques
IEEE Transactions on Visualization and Computer Graphics
Ray Tracing Point Set Surfaces
SMI '03 Proceedings of the Shape Modeling International 2003
Robust Feature Detection and Local Classification for Surfaces Based on Moment Analysis
IEEE Transactions on Visualization and Computer Graphics
Registration of point cloud data from a geometric optimization perspective
Proceedings of the 2004 Eurographics/ACM SIGGRAPH symposium on Geometry processing
Symmetry descriptors and 3D shape matching
Proceedings of the 2004 Eurographics/ACM SIGGRAPH symposium on Geometry processing
Persistence barcodes for shapes
Proceedings of the 2004 Eurographics/ACM SIGGRAPH symposium on Geometry processing
Multiview registration for large data sets
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Reassembling fractured objects by geometric matching
ACM SIGGRAPH 2006 Papers
Distinctive regions of 3D surfaces
ACM Transactions on Graphics (TOG)
Probabilistic fingerprints for shapes
SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing
Partial matching of 3D shapes with priority-driven search
SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing
SGP '07 Proceedings of the fifth Eurographics symposium on Geometry processing
Generalized surface flows for mesh processing
SGP '07 Proceedings of the fifth Eurographics symposium on Geometry processing
Bayesian surface reconstruction via iterative scan alignment to an optimized prototype
SGP '07 Proceedings of the fifth Eurographics symposium on Geometry processing
Principal curvatures from the integral invariant viewpoint
Computer Aided Geometric Design
Analysis of Two-Dimensional Non-Rigid Shapes
International Journal of Computer Vision
4-points congruent sets for robust pairwise surface registration
ACM SIGGRAPH 2008 papers
Registration of combined range-intensity scans: Initialization through verification
Computer Vision and Image Understanding
Multi-view 3D scanned data registration
Proceedings of the 2008 C3S2E conference
A novel method based on color information for scanned data alignment
Proceedings of the 2008 ACM symposium on Virtual reality software and technology
Towards 3D Point cloud based object maps for household environments
Robotics and Autonomous Systems
Integral invariants for robust geometry processing
Computer Aided Geometric Design
Topology-Invariant Similarity of Nonrigid Shapes
International Journal of Computer Vision
Robust principal axes determination for point-based shapes using least median of squares
Computer-Aided Design
Multi-sensor calibration through iterative registration and fusion
Computer-Aided Design
Möbius voting for surface correspondence
ACM SIGGRAPH 2009 papers
Digital anastylosis of the Octagon in Ephesos
Journal on Computing and Cultural Heritage (JOCCH)
Partial Similarity of Objects, or How to Compare a Centaur to a Horse
International Journal of Computer Vision
b-morphs between b-compatible curves in the plane
2009 SIAM/ACM Joint Conference on Geometric and Physical Modeling
3-D face detection, landmark localization, and registration using a point distribution model
IEEE Transactions on Multimedia
Stochastic Optimization for Rigid Point Set Registration
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Fast point feature histograms (FPFH) for 3D registration
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Unsupervised learning of 3D object models from partial views
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Deformation-driven shape correspondence
SGP '08 Proceedings of the Symposium on Geometry Processing
Non-rigid registration under isometric deformations
SGP '08 Proceedings of the Symposium on Geometry Processing
Pairwise region-based scan alignment
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robust on-line model-based object detection from range images
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Fast geometric point labeling using conditional random fields
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
A concise and provably informative multi-scale signature based on heat diffusion
SGP '09 Proceedings of the Symposium on Geometry Processing
An automated registration method for range images
Edutainment'07 Proceedings of the 2nd international conference on Technologies for e-learning and digital entertainment
Full and Partial Symmetries of Non-rigid Shapes
International Journal of Computer Vision
Automated trimmed iterative closest point algorithm
ISVC'07 Proceedings of the 3rd international conference on Advances in visual computing - Volume Part II
Review: Advances in 3D data acquisition and processing for industrial applications
Robotics and Computer-Integrated Manufacturing
Spectral-Driven Isometry-Invariant Matching of 3D Shapes
International Journal of Computer Vision
International Journal of Computer Vision
Contextual Part Analogies in 3D Objects
International Journal of Computer Vision
Fast and automatic object pose estimation for range images on the GPU
Machine Vision and Applications - Integrated Imaging and Vision Techniques for Industrial Inspection
Robust 3D object registration without explicit correspondence using geometric integration
Machine Vision and Applications - Integrated Imaging and Vision Techniques for Industrial Inspection
Orientation invariant 3D object classification using hough transform based methods
Proceedings of the ACM workshop on 3D object retrieval
Volumetric heat kernel signatures
Proceedings of the ACM workshop on 3D object retrieval
Hough transform and 3D SURF for robust three dimensional classification
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part VI
Artwork 3D model database indexing and classification
Pattern Recognition
Technical Section: Fitting 3D garment models onto individual human models
Computers and Graphics
Shape google: Geometric words and expressions for invariant shape retrieval
ACM Transactions on Graphics (TOG)
Correspondences search for surface-based intra-operative registration
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part II
3D digitization and its applications in cultural heritage
EuroMed'10 Proceedings of the Third international conference on Digital heritage
Model-Based Multiple Rigid Object Detection and Registration in Unstructured Range Data
International Journal of Computer Vision
Semantic 3D Media and Content: Surface partial matching and application to archaeology
Computers and Graphics
An efficient RANSAC for 3D object recognition in noisy and occluded scenes
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part I
ACM SIGGRAPH 2011 papers
Generalized shape operators on polyhedral surfaces
Computer Aided Geometric Design
Autonomous Robots
Metric structures on datasets: stability and classification of algorithms
CAIP'11 Proceedings of the 14th international conference on Computer analysis of images and patterns - Volume Part II
Stochastic global optimization for robust point set registration
Computer Vision and Image Understanding
Plane-based registration of construction laser scans with 3D/4D building models
Advanced Engineering Informatics
Non-rigid shape matching using geometry and photometry
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part III
Towards unsupervised segmentation of semi-rigid low-resolution molecular surfaces
GMP'06 Proceedings of the 4th international conference on Geometric Modeling and Processing
Rigid 3D geometry matching for grasping of known objects in cluttered scenes
International Journal of Robotics Research
Photometric heat kernel signatures
SSVM'11 Proceedings of the Third international conference on Scale Space and Variational Methods in Computer Vision
SMI 2012: Short Stable volumetric features in deformable shapes
Computers and Graphics
3D Geometric Scale Variability in Range Images: Features and Descriptors
International Journal of Computer Vision
Learning to place new objects in a scene
International Journal of Robotics Research
Field-guided registration for feature-conforming shape composition
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Robust shape normalization of 3D articulated volumetric models
Computer-Aided Design
Part analogies in sets of objects
EG 3DOR'08 Proceedings of the 1st Eurographics conference on 3D Object Retrieval
A robust 3D interest points detector based on Harris operator
EG 3DOR'10 Proceedings of the 3rd Eurographics conference on 3D Object Retrieval
Evaluation of 3D interest point detection techniques
EG 3DOR'11 Proceedings of the 4th Eurographics conference on 3D Object Retrieval
Affine-invariant photometric heat kernel signatures
EG 3DOR'12 Proceedings of the 5th Eurographics conference on 3D Object Retrieval
Scale Normalization for Isometric Shape Matching
Computer Graphics Forum
Learning to efficiently detect repeatable interest points in depth data
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part I
Putting the pieces together: regularized multi-part shape matching
ECCV'12 Proceedings of the 12th international conference on Computer Vision - Volume Part I
wFEM heat kernel: Discretization and applications to shape analysis and retrieval
Computer Aided Geometric Design
Octree-based fusion for realtime 3D reconstruction
Graphical Models
Transformed polynomials for global registration of point clouds
Proceedings of the 27th Spring Conference on Computer Graphics
Spin image revisited: fast candidate selection using outlier forest search
ACCV'12 Proceedings of the 11th international conference on Computer Vision - Volume 2
3D point of interest detection via spectral irregularity diffusion
The Visual Computer: International Journal of Computer Graphics
Diffusion pruning for rapidly and robustly selecting global correspondences using local isometry
ACM Transactions on Graphics (TOG)
3D dental biometrics: Alignment and matching of dental casts for human identification
Computers in Industry
A low cost ground truth detection system for RoboCup using the Kinect
Robot Soccer World Cup XV
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
Sparse iterative closest point
SGP '13 Proceedings of the Eleventh Eurographics/ACMSIGGRAPH Symposium on Geometry Processing
Hi-index | 0.01 |
We present an algorithm for the automatic alignment of two 3D shapes (data and model), without any assumptions about their initial positions. The algorithm computes for each surface point a descriptor based on local geometry that is robust to noise. A small number of feature points are automatically picked from the data shape according to the uniqueness of the descriptor value at the point. For each feature point on the data, we use the descriptor values of the model to find potential corresponding points. We then develop a fast branch-and-bound algorithm based on distance matrix comparisons to select the optimal correspondence set and bring the two shapes into a coarse alignment. The result of our alignment algorithm is used as the initialization to ICP (iterative closest point) and its variants for fine registration of the data to the model. Our algorithm can be used for matching shapes that overlap only over parts of their extent, for building models from partial range scans, as well as for simple symmetry detection, and for matching shapes undergoing articulated motion.