2007_autumn_mster_liuyu12007_autumn_master_liuyu12007_autumn_master_liuyu12007_autumn_master_liuyu1.pptVIP

Registration and Alignment Speaker: Liuyu 07.12.10 The goal Form a 3D model of an object: Data acquisition Registration between views Integration of views References A Method for Registration of 3-D Shapes Paul J. Besl, Member, IEEE, and Neil D. McKay IEEE Transaction on Pattern Analysis and Machine Intelligence,1992 Mathematic Preliminaries Let t be the triangle defined by the three points The distance between and t : Let T = {ti} for i =1,…，Nt,, then the distance between and T: References Object Modeling by Registration of Multiply Range Images Yang Chen and Gerard Medioni Robotics and Automation, 1991, Proceedings In Image and Visual Computer , 1992 Mathematic Preliminaries Point to Parametric Entity Distance the parametric entity let ,use the Newton`s iteration method: Point to Implicit Entity Distance Minimize the condition: Update formula: Mathematic Preliminaries Corresponding Point Set Registration Let P = { pi } be a measured data, X be a model shape, C be the closest point operator: Y = C(P,X), where Y denote the resulting set of closest points. Mathematic Preliminaries Corresponding Point Set Registration The least squares registration (q, d) = φ (P,Y), where q is the registration state vector, and d is the mean square point matching error. Get q The formulas to get q : where is a unit rotation quaternion to generate the rotation matrix and is a translation vector. Minimize the mean square objective function to get q : is 3*3 rotation matrix generated by Get q corresponding to the maximum eigenvalue of the matrix : where is the cross-covariance matrix of P and X, The translation vector Get d The mean square point matching error ICP Algorithm Statement Input: the point set P = { pi } from the data shape and the model shape X( wi