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3D Scan Alignment Using ICP

3D Scan Alignment Using ICP. Problem. Align two partially- overlapping meshes given initial guess for relative transform. Aligning 3D Data. If correct correspondences are known, can find correct relative rotation/translation. Aligning 3D Data.

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3D Scan Alignment Using ICP

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  1. 3D Scan Alignment Using ICP

  2. Problem • Align two partially-overlapping meshesgiven initial guessfor relative transform

  3. Aligning 3D Data • If correct correspondences are known, can find correct relative rotation/translation

  4. Aligning 3D Data • How to find correspondences: User input? Feature detection? Signatures? • Alternative: assume closest points correspond

  5. Aligning 3D Data • … and iterate to find alignment • Iterative Closest Points (ICP) [Besl & McKay 92] • Converges if starting position “close enough“

  6. ICP Variants • Variants on the following stages of ICPhave been proposed: • Selecting source points (from one or both meshes) • Matching to points in the other mesh • Weighting the correspondences • Rejecting certain (outlier) point pairs • Assigning an error metric to the current transform • Minimizing the error metric w.r.t. transformation

  7. Performance of Variants • Can analyze various aspects of performance: • Speed • Stability • Tolerance of noise and/or outliers • Maximum initial misalignment • Comparisons of many variants in[Rusinkiewicz & Levoy, 3DIM 2001]

  8. ICP Variants • Selecting source points (from one or both meshes) • Matching to points in the other mesh • Weighting the correspondences • Rejecting certain (outlier) point pairs • Assigning an error metric to the current transform • Minimizing the error metric w.r.t. transformation

  9. Closest Compatible Point • Closest point often a bad approximation to corresponding point • Can improve matching effectiveness by restricting match to compatible points • Compatibility of colors [Godin et al. 94] • Compatibility of normals [Pulli 99] • Other possibilities: curvatures, higher-order derivatives, and other local features

  10. ICP Variants • Selecting source points (from one or both meshes) • Matching to points in the other mesh • Weighting the correspondences • Rejecting certain (outlier) point pairs • Assigning an error metric to the current transform • Minimizing the error metric w.r.t. transformation

  11. Point-to-Plane Error Metric • Using point-to-plane distance instead of point-to-point lets flat regions slide along each other [Chen & Medioni 91]

  12. Demo

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