A maximum-likelihood surface estimator for dense range data

IEEE Transactions on Pattern Analysis and Machine Intelligence

Volumn 24, Issue 10, 2002, Pages 1372-1387

  Whitaker, Ross T ^a,b   Gregor, Jens ^c  

^a IEEE   (United States)

^b Department of Electrical and Computer Engineering   (United States)

^c University of Tennessee Knoxville   (United States)

Author keywords

3D range data; Bayesian estimation; Calibration; Ladar; Maximum likelihood; Optimal estimation; Parameter estimation; Registration; Surface estimation; Surface fitting; Surface reconstruction

Indexed keywords

BAYESIAN ESTIMATION; DENSE RANGE DATA; MAXIMUM LIKELIHOOD SURFACE ESTIMATOR; NOISY RANGE DATA; THREE DIMENSIONAL RANGE DATA; THREE DIMENSIONAL SURFACE MODELS;

ALGORITHMS; COMPUTATIONAL METHODS; DATA REDUCTION; DATA STRUCTURES; MAXIMUM LIKELIHOOD ESTIMATION; NUMERICAL METHODS; OPTIMIZATION; PARAMETER ESTIMATION; SYNTHETIC APERTURE RADAR; THREE DIMENSIONAL;

ARTIFICIAL INTELLIGENCE;

EID: 0036807139     PISSN: 01628828     EISSN: None     Source Type: Journal    
DOI: 10.1109/TPAMI.2002.1039208     Document Type: Article

References (36)

1. E. Keeping, Introduction to Statistical Inference. New York: Dover, 1962.
2. Y. Chen and G. Medioni, "Object Modeling by Registration of Multiple Range Images," Int'l J. Image and Vision Computing, vol. 10, pp. 145-155, 1992.
3. S. Rusinkiewicz and M. Levoy, "Efficient Variants of the ICP Algorithm," Proc. Third Int'l Conf. 3D Digital Imaging and Modeling (3DIM '01), pp. 145-152, May 2001.
4. R.M. Bolle and B.C. Vemuri, "On Three-Dimensional Surface Reconstruction Methods," IEEE Trans. Pattern Analysis and Machine Intelligence, pp. 1-13, Jan. 1991.
5. G. Taubin, "Estimation of Planar Curves, Surfaces, and Nonplanar Space Curves Defined by Implicit Equations with Applications to Edge and Range Image Segmentation," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 13, no. 11, pp. 1115-1138, Nov. 1991.
6. R.M. Bolle and D.B Cooper, "On Optimally Combining Pieces of Information, with Application to Estimating 3D Complex-Object Position from Range Data," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 8, pp. 619-638, Sept. 1986.
7. S. Kumar, S. Han, D. Goldgof, and K. Boyer, "On Recovering Hyperquadrics from Range Data," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 17, no. 11, pp. 1079-1083, Nov. 1995.
8. Z. Lei and D. Cooper, "Linar Programming Fitting of Implicit Polynomials," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 20, no. 2, pp. 212-217, Feb. 1997.
9. N. Werghi, R. Fisher, A. Ashbrook, and C. Robertson, "Faithful Recovering of Quadratic Surfaces from 3D Range Data," Proc. Second Int'l Conf. 3D Digital Imaging and Modeling, pp. 280-289, Oct. 1999.
10. O. Faugeraus and M. Hebert, "The Representation and Positioning of 3D Shapes from Range Data," Techniques for 3D Machine Perception, A. Rosenfeld, ed., pp. 13-51, 1986.
11. A.P. Pentland, "Recognition by Parts," Proc. First Int'l Conf. Computer Vision, pp. 612-620, June 1987.
12. F. Solina and R. Bajcsy, "Recovery of Parametric Models from Range Images: The Case for Superquadrics with Global Deformations," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 12, no. 2, pp. 131-147, Feb. 1990.
13. D. DeCarlo and D. Metaxas, "Adaptive Shape Evolution Using Blending," Proc. Fifth Int'l Conf. Computer Vision, pp. 834-839, 1995.
14. G. Turk and M. Levoy, "Zippered Polygon Meshes from Range Images," Proc. Conf. SIGGRAPH '94, pp. 311-318, July 1994.
15. H. Hoppe, T. DeRose, T. Duchamp, J. McDonald, and W. Stuetzle, "Surface Reconstruction from Unorganized Points," Computer Graphics, vol. 26, no. 2, pp. 71-78, 1992.
16. A. Hilton, A.J. Stoddart, J. Ilingworth, and T. Windeatt, "Reliable Surface Reconstruction from Multiple Range Images," Proc. European Conf. Computer Vision, pp. 117-126, 1996.
17. S. Muraki "Volumetric Shape Description of Range Data Using "Blobby Model"," Proc. Conf. Computer Graphics (SIGGRAPH '91 Proc.), vol. 25, pp. 227-235, July 1991.
18. D. Keren, D. Cooper, and J. Subrahmonia, "Describing Complicated Objects by Implicit Polynomials," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 16, no. 1, pp. 30-53, Jan. 1994.
19. B. Curless and M. Levoy, "A Volumetric Method for Building Complex Models from Range Images," Proc. Conf. Computer Graphics (SIGGRAPH '96 Proc.), pp. 303-312, July 1996.
20. R.T Whitaker, "A Level-Set Approach to 3D Reconstruction from Range Data," Int'l J. Computer Vision, pp. 203-231, Oct. 1998.
21. R. Courant and D. Hilbert, Methods of Mathematical Physics, Vol. II. New York: John Wiley and Sons, 1962.
22. J. Gregor and R. Whitaker, "Reconstructing Indoor Scene Models from Sets of Noisy Range Images," Graphical Models, vol. 63 pp. 304-332, Sept. 2001.
23. J. Tukey, Exploratory Data Analysis. Reading: Addison-Wesley. 1977.
24. W. Press, B. Flannery, S. Teukolsky, and W. Vetterling, Numerical Recipes in C, second ed. New York: Cambridge Univ. Press, 1992.
25. D. Terzopoulos and D. Metaxas, "Dynamic 3D Models with Local and Global Deformations: Deformable Superquadrics," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 13, no. 7, pp. 703-714, 1991.
26. P.J. Besl and N. D. McKay, "A Method for Registration of 3-D Shapes," IEEE Trans. Pattern Analysis and Machine Intelligence vol. 14, pp. 239-256, 1992.
27. Z. Zhang, "Iterative Point Matching for Registration of Free-Form Curves and Surfaces," Int'l J. Computer Vision, vol. 13, pp. 119-152, 1994.
28. D.A. Simon, M. Hebert, and T. Kanade, "Real-Time 3-D Pose Estimation Using a High-Speed Range Sensor," IEEE Int'l Conf. Robotics and Automation, pp. 2235-2240, 1994.
29. G. Blais and M.D. Levine, "Registering Multiview Range Data to Create 3D Computer Objects," IEEE Trans. Pattern Analysis and Machine Intelligence, pp. 820-824, 1995.
30. C. Dorai, J. Weng, and A.K. Jain, "Optimal Registration of Object Views Using Range Data," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 19, pp. 1131-1138, 1997.
31. B.K.P. Horn, "Closed-Form Solution of Absolute Orientation Using Unit Quaternions," J. Optical Soc. Am. A, vol. 4, pp. 629-642, 1987.
32. D.W. Eggert, A. Lorusso, and R.B. Fisher, "Estimating 3D Rigid Body Transformations: A Comparison of Four Major Algorithms," Machine Vision and Applications, vol. 9, pp. 272-290, 1997.
33. M. Levoy, K. Pulli, B. Curless, S. Rusinkiewicz, S. Anderson, J. Davis, J. Ginsberg, and J. Shade, "The Digital Michelangelo Project: 3D Scanning of Large Statues," Proc. ACM SIGGRAPH, pp. 131-144, 2000.
34. F. Preparata and M. Shamos, Computational Geometry, An Introduction, 1986.
35. V. Sequeira, J.G.M. Goncalves, and M.I. Ribeiro, "3-D Environment Modeling Using Laser Ranger Sensing," Robotics and Autonomous Systems, vol. 16, pp. 81-91, 1995.
36. O. Jokinen, "Self-Calibration of a Light Striping System by Matching Multiple 3-D Profile maps," Proc. Second Int'l Conf. 3D Digital Imaging and Modeling, pp. 180-190, Oct. 1999.