1 / 19

A Method for Registration of 3D Surfaces ICP Algorithm

A Method for Registration of 3D Surfaces ICP Algorithm Erhan Avinal Introduction Building 3D models of real world objects Data capture using range camera Registration Data merge Registration - Goal To transform sets of surface measurements into a common coordinate system

benjamin
Download Presentation

A Method for Registration of 3D Surfaces ICP Algorithm

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. A Method for Registration of 3D SurfacesICP Algorithm Erhan Avinal

  2. Introduction • Building 3D models of real world objects • Data capture using range camera • Registration • Data merge

  3. Registration - Goal • To transform sets of surface measurements into a common coordinate system • A model shape and a data shape

  4. Registration • If we know correct correspondences, we can find correct translation and rotation

  5. Rotation and translation Registration • Issue : Finding corresponding points • ICP : Assume closest points correspond to each other, compute the best transform

  6. ICP Algorithm Can be used with

  7. Distance • Euclidian distances • Point to point set • Point to line segment • Point to triangle • Point to parametric entity • Point to implicit entity

  8. Algorithm • Point Set P with Np points, model shape X • Iterate until convergence • Compute closest points • Squared Euclidian distances • Compute registration (rotation and translation) • Apply the registration • New point set

  9. Other Issues • Color matching • Sharp, 2002 • Godin, 1995 • Johnson, 1997 • Orientation • Godin 2001 • Schutz 1998

  10. Other Issues • Weighting • Important nodes • Initial point selection • Uniform sampling • Random • Select in regions of high curvature • k-d trees to find closest points

  11. Results

  12. Results

  13. Results

  14. Results

  15. Results

  16. Conclusions • ICP can register a data shape to a model shape • Independent of shape representation • Does not require preprocessing of 3D data • A good initial estimate of transformation is required • High computation cost

  17. Future Work • Computational speedup • Parallel testing • Allow deformations

  18. References • Original Paper: • P.J. Besl, N.D. McKay,A Method of Registration of 3D Shapes, 1992 • T. Jost, Fast Geometric Matching for Shape Registration, 2002 • S.M. Rusinkiewicz, Real time Acquisition and Rendering of Large 3D Models, 2001 • http://www.ee.surrey.ac.uk/Research/VSSP/3DVision/model_building/model.html

  19. Thanks

More Related