Hierarchical Chamfer Matching: A Parametric Edge Matching Algorithm
IEEE Transactions on Pattern Analysis and Machine Intelligence
Structural Indexing: Efficient 3-D Object Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
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
Zippered polygon meshes from range images
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Statistical Approaches to Feature-Based Object Recognition
International Journal of Computer Vision
Point Signatures: A New Representation for 3D Object Recognition
International Journal of Computer Vision
Simultaneous registration of multiple range views for use in reverse engineering of CAD models
Computer Vision and Image Understanding - Special issue on CAD-based computer vision
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust Point Correspondence Applied to Two-and Three-Dimensional Image Registration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Computational Framework for Segmentation and Grouping
Computational Framework for Segmentation and Grouping
Registration and integration of textured 3-D data
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Robust Affine Motion Estimation in Joint Image Space Using Tensor Voting
ICPR '02 Proceedings of the 16 th International Conference on Pattern Recognition (ICPR'02) Volume 4 - Volume 4
Extension of the ICP Algorithm to Non-Rigid Intensity-Based Registration of 3D Volumes
MMBIA '96 Proceedings of the 1996 Workshop on Mathematical Methods in Biomedical Image Analysis (MMBIA '96)
Registration of Multiple Point Sets
ICPR '96 Proceedings of the 13th International Conference on Pattern Recognition - Volume 2
Fast parametric elastic image registration
IEEE Transactions on Image Processing
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
Nonstructured light-based sensing for 3D reconstruction
Pattern Recognition
Registration of 2D Points Using Geometric Algebra and Tensor Voting
Journal of Mathematical Imaging and Vision
Model-Based Multiple Rigid Object Detection and Registration in Unstructured Range Data
International Journal of Computer Vision
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We address the problem of finding the correspondences of two point sets in 3D undergoing a rigid transformation. Using these correspondences the motion between the two sets can be computed to perform registration. Our approach is based on the analysis of the rigid motion equations as expressed in the Geometric Algebra framework. Through this analysis it was apparent that this problem could be cast into a problem of finding a certain 3D plane in a different space that satisfies certain geometric constraints. In order to find this plane in a robust way, the Tensor Voting methodology was used. Unlike other common algorithms for point registration (like the Iterated Closest Points algorithm), ours does not require an initialization, works equally well with small and large transformations, it cannot be trapped in "local minima" and works even in the presence of large amounts of outliers. We also show that this algorithm is easily extended to account for multiple motions and certain non-rigid or elastic transformations.