메뉴 건너뛰기




Volumn 24, Issue 7, 2006, Pages 762-781

Automatic registration of overlapping 3D point clouds using closest points

Author keywords

3D point clouds; Automatic registration; Combinatorial optimization; Deterministic annealing; EMICP; Entropy maximization; Optimised k D tree; SoftAssign

Indexed keywords

ALGORITHMS; BENCHMARKING; COMPUTATIONAL COMPLEXITY; COMPUTER GRAPHICS; CONSTRAINT THEORY; EMBEDDED SYSTEMS; NUMBER THEORY; REAL TIME SYSTEMS; STORAGE ALLOCATION (COMPUTER); THREE DIMENSIONAL COMPUTER GRAPHICS;

EID: 33746768758     PISSN: 02628856     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.imavis.2006.01.009     Document Type: Article
Times cited : (85)

References (57)
  • 1
    • 84995304349 scopus 로고    scopus 로고
    • A.P. Ashbrook, R.B. Fisher, et al., Finding surface correspondences for object recognition and registration using pair-wise geometric histogram, Proceedings of the Fifth ECCV, vol. II, 1998, pp. 185-201.
  • 2
    • 6344259813 scopus 로고    scopus 로고
    • Dempster-shafer clustering using potts spin mean field theory
    • Bengtsson M., and Schubert J. Dempster-shafer clustering using potts spin mean field theory. Soft Comput. 5 (2001) 215-238
    • (2001) Soft Comput. , vol.5 , pp. 215-238
    • Bengtsson, M.1    Schubert, J.2
  • 3
    • 0026821209 scopus 로고
    • A method for registration of 3D shapes
    • Besl P.J., and McKay N.D. A method for registration of 3D shapes. IEEE Trans. PAMI 14 (1992) 239-256
    • (1992) IEEE Trans. PAMI , vol.14 , pp. 239-256
    • Besl, P.J.1    McKay, N.D.2
  • 4
    • 44049122968 scopus 로고
    • Object modelling by registration of multiple range images
    • Chen Y., and Medioni G. Object modelling by registration of multiple range images. IVC 10 (1992) 145-155
    • (1992) IVC , vol.10 , pp. 145-155
    • Chen, Y.1    Medioni, G.2
  • 5
    • 0042904903 scopus 로고    scopus 로고
    • A new point matching algorithm for non-rigid registration
    • Chui H., and Rangarajan A. A new point matching algorithm for non-rigid registration. CVIU 89 (2003) 114-141
    • (2003) CVIU , vol.89 , pp. 114-141
    • Chui, H.1    Rangarajan, A.2
  • 7
    • 0038067831 scopus 로고    scopus 로고
    • A unified non-rigid feature registration method for brain mapping
    • Chui H., and Rangarajan A. A unified non-rigid feature registration method for brain mapping. Med. Image Anal. 7 (2003) 113-130
    • (2003) Med. Image Anal. , vol.7 , pp. 113-130
    • Chui, H.1    Rangarajan, A.2
  • 8
    • 0042441063 scopus 로고    scopus 로고
    • P. David, D. DeMenthon, R. Duraiswami, H. Samet. Simultaneous pose and correspondence determination using line features, Proceedings of the CVPR, vol. II, 2003, pp. 422-429.
  • 9
    • 0002629270 scopus 로고
    • Maximum likelihood from incomplete data via the EM algorithm
    • Dempster A.P., Laird N.M., and Rubin D.B. Maximum likelihood from incomplete data via the EM algorithm. J. R. Stat. Soc. Ser. B 39 (1977) 1-38
    • (1977) J. R. Stat. Soc. Ser. B , vol.39 , pp. 1-38
    • Dempster, A.P.1    Laird, N.M.2    Rubin, D.B.3
  • 10
    • 35048836579 scopus 로고    scopus 로고
    • Hand motion from 3D point trajectories and a smooth surface model
    • Dewaele G., Devernay F., and Horaud R. Hand motion from 3D point trajectories and a smooth surface model. ECCV I (2004) 495-507
    • (2004) ECCV , vol.I , pp. 495-507
    • Dewaele, G.1    Devernay, F.2    Horaud, R.3
  • 11
    • 84898821207 scopus 로고    scopus 로고
    • C. Dorai, G. Wang, A.K. Jain, C. Mercer. From images to models: automatic model construction from multiple views, Proceedings of the ICPR, 1996, pp. 770-774.
  • 12
    • 0031098252 scopus 로고    scopus 로고
    • 3D-2D projective registration of free-form curves and surfaces
    • Feldmar J., Ayache N., and Betting F. 3D-2D projective registration of free-form curves and surfaces. CVIU 65 (1997) 403-424
    • (1997) CVIU , vol.65 , pp. 403-424
    • Feldmar, J.1    Ayache, N.2    Betting, F.3
  • 13
    • 84945709355 scopus 로고
    • An algorithm for finding best matches in logarithmic expected time
    • Friedman J.H., Bently J.L., and Finkel P.A. An algorithm for finding best matches in logarithmic expected time. ACM Trans. Math. Software 3 (1977) 209-226
    • (1977) ACM Trans. Math. Software , vol.3 , pp. 209-226
    • Friedman, J.H.1    Bently, J.L.2    Finkel, P.A.3
  • 14
    • 84943555018 scopus 로고    scopus 로고
    • N. Gelfand, L. Ikemoto, S. Rusinhiewicz, M. Levoy, Geometrically stable sampling for the ICP algorithm, Proceedings of the 3DIM, 2003, pp. 260-267.
  • 15
    • 0030125842 scopus 로고    scopus 로고
    • A graduated assignment algorithm for graph matching
    • Gold S., and Rangarajan A. A graduated assignment algorithm for graph matching. IEEE PAMI 18 (1996) 377-388
    • (1996) IEEE PAMI , vol.18 , pp. 377-388
    • Gold, S.1    Rangarajan, A.2
  • 16
    • 0032141691 scopus 로고    scopus 로고
    • New algorithms for 2-D and 3-D point matching: pose estimation and correspondence
    • Gold S., Rangarajan A., et al. New algorithms for 2-D and 3-D point matching: pose estimation and correspondence. Pattern Recognit. 31 (1998) 1019-1031
    • (1998) Pattern Recognit. , vol.31 , pp. 1019-1031
    • Gold, S.1    Rangarajan, A.2
  • 17
    • 84937545405 scopus 로고    scopus 로고
    • S. Granger, Xavier Pennec, Multi-scale EMICP: a fact and robust approach for surface registration, Proceedings of the ECCV, 2002, LNCS, pp. 418-432.
  • 18
    • 84880819897 scopus 로고    scopus 로고
    • D. Hahnel, S. Thrun, W. Burgard, An extension of the ICP algorithm for modelling nonrigid objects with mobile robots, Proceedings of the International Joint Conference on Artificial Intelligence, 2003, pp. 915-920.
  • 19
    • 0030734483 scopus 로고    scopus 로고
    • Pairwise data clustering by deterministic annealing
    • Hofmann T., and Buhmann J.M. Pairwise data clustering by deterministic annealing. IEEE Trans. PAMI 19 (1997) 1-14
    • (1997) IEEE Trans. PAMI , vol.19 , pp. 1-14
    • Hofmann, T.1    Buhmann, J.M.2
  • 20
    • 0038053163 scopus 로고    scopus 로고
    • Fully automatic registration of multiple 3D data sets
    • Huber D., and Hebert M. Fully automatic registration of multiple 3D data sets. IVC 21 (2003) 637-650
    • (2003) IVC , vol.21 , pp. 637-650
    • Huber, D.1    Hebert, M.2
  • 21
    • 11944266539 scopus 로고
    • Information theory and statistical mechanics
    • Jaynes E.T. Information theory and statistical mechanics. Phys. Rev. 106 (1957) 620-630
    • (1957) Phys. Rev. , vol.106 , pp. 620-630
    • Jaynes, E.T.1
  • 22
    • 0344146569 scopus 로고    scopus 로고
    • Registration and integration of textured 3-D data
    • Johnson A.E., and Kang S.B. Registration and integration of textured 3-D data. IVC 17 (1999) 135-147
    • (1999) IVC , vol.17 , pp. 135-147
    • Johnson, A.E.1    Kang, S.B.2
  • 23
    • 0032685832 scopus 로고    scopus 로고
    • Using spin images for efficient object recognition in cluttered 3D scenes
    • Johnson A., and Hebert M. Using spin images for efficient object recognition in cluttered 3D scenes. IEEE Trans. PAMI 21 (1999) 433-449
    • (1999) IEEE Trans. PAMI , vol.21 , pp. 433-449
    • Johnson, A.1    Hebert, M.2
  • 24
    • 84995342313 scopus 로고    scopus 로고
    • H. Jonsson, B. Soderberg, Deterministic annealing and nonlinear assignment, Technical report 01-16, Department of Theoretical Physics, Lund University, 2001.
  • 25
    • 0023015010 scopus 로고    scopus 로고
    • Z. Lin, H. Lee, T. Huang, Finding 3D point correspondences in motion estimation, Proceedings of the Eight ICPR, 1986, pp. 303-305.
  • 26
    • 10044257527 scopus 로고    scopus 로고
    • Y. Liu, L. Li, Y. Wang, Free form shape matching using deterministic annealing and SoftAssign, Proceedings of the ICPR, 2004, pp. 128-131.
  • 27
    • 2142794663 scopus 로고    scopus 로고
    • Developing structural constraints for accurate registration of overlapping range images
    • Liu Y., and Wei B. Developing structural constraints for accurate registration of overlapping range images. Rob. Autonomous Syst. 47 (2004) 11-30
    • (2004) Rob. Autonomous Syst. , vol.47 , pp. 11-30
    • Liu, Y.1    Wei, B.2
  • 28
    • 22844448920 scopus 로고    scopus 로고
    • Y. Liu, B. Wei, Evaluating structural constraints for accurate range image registration, Proceedings of the 3DIM, 2003, pp. 187-194.
  • 29
    • 0242624711 scopus 로고    scopus 로고
    • Improving ICP with easy implementation for free form surface matching
    • Liu Y. Improving ICP with easy implementation for free form surface matching. Pattern Recognit. 37 (2004) 211-226
    • (2004) Pattern Recognit. , vol.37 , pp. 211-226
    • Liu, Y.1
  • 30
    • 3042581254 scopus 로고    scopus 로고
    • Y. Liu, L. Li, B. Wei, 3D shape matching using collinearity constraint, Proceedings of the ICRA, 2004, pp. 2285-2290.
  • 31
    • 0034446217 scopus 로고    scopus 로고
    • Y. Liu, M.A. Rodrigues, Y. Wang, Developing rigid motion constraints for the registration of free-form shapes, Proceedings of the IEEE/RSJ IROS, 2000, pp. 2280-2285.
  • 32
    • 0036859288 scopus 로고    scopus 로고
    • A frequency domain technique for range image registration
    • Lucchese L., Doretto G., and Cortelazzo G.M. A frequency domain technique for range image registration. IEEE Trans. PAMI 24 (2002) 1468-1484
    • (2002) IEEE Trans. PAMI , vol.24 , pp. 1468-1484
    • Lucchese, L.1    Doretto, G.2    Cortelazzo, G.M.3
  • 33
    • 0033691403 scopus 로고    scopus 로고
    • J. Luck, C. Little, W. Hoff, Registration of range data using a hybrid simulated annealing and iterative closest point algorithm, Proceedings of the ICRA, 2000, pp. 3739-3744.
  • 34
    • 0037788906 scopus 로고    scopus 로고
    • Decision tree learning
    • McGraw-Hill, NewYork (Chapter 3)
    • Mitchell T. Decision tree learning. Machine Learning (1997), McGraw-Hill, NewYork (Chapter 3)
    • (1997) Machine Learning
    • Mitchell, T.1
  • 35
    • 84995308175 scopus 로고    scopus 로고
    • K. Nishino, K. Ikeuchi, Robust simultaneous registration of multiple range images, Proceedings of the Fifth ACCV, 2002, pp. 454-461.
  • 36
    • 0041841537 scopus 로고    scopus 로고
    • Laser-based imaging for reverse engineering
    • Page D., Koschan A., Sun Y., and Abidi M. Laser-based imaging for reverse engineering. Sensor Rev. 23 (2003) 223-229
    • (2003) Sensor Rev. , vol.23 , pp. 223-229
    • Page, D.1    Koschan, A.2    Sun, Y.3    Abidi, M.4
  • 37
    • 0029215394 scopus 로고    scopus 로고
    • T. Pajdla, L. Van Gool, Registration of 3-D curves using semi-differential invariants, Proceedings of the ICCV, 1995, pp. 390-395.
  • 38
    • 85032099253 scopus 로고    scopus 로고
    • K. Pulli, Multiview registration for large data sets, Proceedings of the 3DIM, 1999, pp. 160-168.
  • 39
    • 0033341106 scopus 로고    scopus 로고
    • Multiscale annealing for grouping and unsupervised texture segmentation
    • Puzicha J., and Buhmann J.M. Multiscale annealing for grouping and unsupervised texture segmentation. CVIU 76 (1999) 213-230
    • (1999) CVIU , vol.76 , pp. 213-230
    • Puzicha, J.1    Buhmann, J.M.2
  • 40
    • 84995308177 scopus 로고    scopus 로고
    • J. Puzicha, T. Hofmann, J.M. Buhmann, Deterministic annealing: fact physical heuristics for real-time optimisation of large systems, Proceedings of the 15th IMACS World Conference on Scientific Computation, Modelling and Applied Mathematics, vol. 6, 1997, pp. 445-450.
  • 41
    • 0037197643 scopus 로고    scopus 로고
    • On the representation of rigid body transformations for accurate registration of free form shapes
    • Rodrigues M.A., and Liu Y. On the representation of rigid body transformations for accurate registration of free form shapes. Rob. Autonomous Syst. 39 1 (2002) 37-52
    • (2002) Rob. Autonomous Syst. , vol.39 , Issue.1 , pp. 37-52
    • Rodrigues, M.A.1    Liu, Y.2
  • 42
    • 84949236475 scopus 로고    scopus 로고
    • S. Rusinkiewicz, M. Levoy, Efficient variants of the ICP algorithm, Proceedings of the 3DIM, 2001, pp. 145-152.
  • 43
    • 32844474095 scopus 로고    scopus 로고
    • Reinforcement learning with factored states and actions
    • Sallans B., and Hinton G.E. Reinforcement learning with factored states and actions. J. Machine Learning Res. 5 (2004) 1063-1088
    • (2004) J. Machine Learning Res. , vol.5 , pp. 1063-1088
    • Sallans, B.1    Hinton, G.E.2
  • 44
    • 0036229042 scopus 로고    scopus 로고
    • Invariant features and the registration of rigid bodies
    • Sharp G.C., Lee S.W., and Wehe W.K. Invariant features and the registration of rigid bodies. IEEE Trans. PAMI 24 (2002) 90-112
    • (2002) IEEE Trans. PAMI , vol.24 , pp. 90-112
    • Sharp, G.C.1    Lee, S.W.2    Wehe, W.K.3
  • 45
    • 18144370815 scopus 로고    scopus 로고
    • Precision range image registration using a robust surface interpenetration measure and enhanced genetic algorithms
    • Silva L., Bellon O.R.P., and Bower K.L. Precision range image registration using a robust surface interpenetration measure and enhanced genetic algorithms. IEEE Trans. PAMI 27 (2005) 762-776
    • (2005) IEEE Trans. PAMI , vol.27 , pp. 762-776
    • Silva, L.1    Bellon, O.R.P.2    Bower, K.L.3
  • 46
    • 0000142394 scopus 로고
    • A relationship between arbitrary positive matrices and doubly stochastic matrices
    • Sinkhorn R. A relationship between arbitrary positive matrices and doubly stochastic matrices. Ann. Math. Stat. 35 (1964) 876-879
    • (1964) Ann. Math. Stat. , vol.35 , pp. 876-879
    • Sinkhorn, R.1
  • 47
    • 0023223978 scopus 로고
    • Toward a universal law of generalisation for psychological science
    • Shepard R.N. Toward a universal law of generalisation for psychological science. Science 237 (1987) 1317-1323
    • (1987) Science , vol.237 , pp. 1317-1323
    • Shepard, R.N.1
  • 48
    • 0034850454 scopus 로고    scopus 로고
    • Y. Sun, M.A. Abidi, Surface matching by 3D point's fingerprint, Proceedings of the ICCV, 2001, pp. 263-269.
  • 49
    • 0344442854 scopus 로고    scopus 로고
    • An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalisation of indoor environment
    • Surmann H., Nuchter A., and Hertzberg J. An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalisation of indoor environment. Rob. Autonomous Syst. 45 (2003) 181-198
    • (2003) Rob. Autonomous Syst. , vol.45 , pp. 181-198
    • Surmann, H.1    Nuchter, A.2    Hertzberg, J.3
  • 50
    • 0021212680 scopus 로고
    • Uniqueness and estimation of three-dimensional motion parameters of rigid objects with curved surfaces
    • Tsai R.Y., and Huang T.S. Uniqueness and estimation of three-dimensional motion parameters of rigid objects with curved surfaces. IEEE Trans. PAMI 6 (1984) 13-27
    • (1984) IEEE Trans. PAMI , vol.6 , pp. 13-27
    • Tsai, R.Y.1    Huang, T.S.2
  • 51
    • 84977776020 scopus 로고    scopus 로고
    • G. Turk, M. Levoy, Zippered polygon meshes from range images, Proceedings of the SIGGRAPH, 1994, pp. 311-318.
  • 52
    • 85044658698 scopus 로고    scopus 로고
    • R.T. Whitaker, et al., Indoor scene reconstruction from sets of noisy range images, Proceedings of the 3DIM, 1999, pp. 348-357.
  • 53
    • 85138839034 scopus 로고    scopus 로고
    • J.V. Wyngaerd, L.V. Gool, B. Koch, M. Proesmans, Invariant-based registration of surface patches, Proceedings of the ICCV, 1999, pp. 301-306.
  • 54
    • 0036684380 scopus 로고    scopus 로고
    • Surface signatures: an orientation independent free-form surface representation scheme for the purpose of objects registration and matching
    • Yamany S.M., and Farag A.A. Surface signatures: an orientation independent free-form surface representation scheme for the purpose of objects registration and matching. IEEE Trans. PAMI 24 (2002) 1105-1120
    • (2002) IEEE Trans. PAMI , vol.24 , pp. 1105-1120
    • Yamany, S.M.1    Farag, A.A.2
  • 55
    • 0031629346 scopus 로고    scopus 로고
    • R. Yang, P.K. Allen, Registering, integrating, and building CAD models from range data, Proceedings of the ICRA, 1998, pp. 3115-3120.
  • 57
    • 0028515989 scopus 로고
    • Iterative point matching for registration of free form curves and surfaces
    • Zhang Z. Iterative point matching for registration of free form curves and surfaces. IJCV 13 (1994) 119-152
    • (1994) IJCV , vol.13 , pp. 119-152
    • Zhang, Z.1


* 이 정보는 Elsevier사의 SCOPUS DB에서 KISTI가 분석하여 추출한 것입니다.