Report

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 A model shape and a data shape Registration If we know correct correspondences, we can find correct translation and rotation Registration Issue : Finding corresponding points ICP : Assume closest points correspond to each other, compute the best transform Rotation and translation ICP Algorithm Can be used with Distance Euclidian distances Point to point set Point to line segment Point to triangle Point to parametric entity Point to implicit entity 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 Other Issues Color matching Sharp, 2002 Godin, 1995 Johnson, 1997 Orientation Godin 2001 Schutz 1998 Other Issues Weighting Initial point selection Important nodes Uniform sampling Random Select in regions of high curvature k-d trees to find closest points Results Results Results Results Results 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 Future Work Computational speedup Parallel testing Allow deformations 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/3DVisio n/model_building/model.html Thanks