Robust methods for geometric primitive recovery and estimation from range images

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 38, Issue 3, 2008, Pages 826-845

  Lavva, Irina ^a   Hameiri, Eyal ^a   Shimshoni, Ilan ^b  

^a TECHNION ISRAEL INSTITUTE OF TECHNOLOGY   (Israel)

^b UNIVERSITY OF HAIFA   (Israel)

Author keywords

3 D object recognition; Darboux Frame; Mean shift; Principal curvatures; Pursuit based M Estimator (pbM); Random sample consensus (RANSAC); Range data

Indexed keywords

ALGORITHMS; ESTIMATION; IMAGE CLASSIFICATION; IMAGE SEGMENTATION; OBJECT RECOGNITION;

DARBOUX FRAME; MEAN SHIFT; PRINCIPAL CURVATURES; PURSUIT-BASED M-ESTIMATOR; RANDOM SAMPLE CONSENSUS;

IMAGING TECHNIQUES;

ALGORITHM; ARTICLE; ARTIFICIAL INTELLIGENCE; AUTOMATED PATTERN RECOGNITION; COMPUTER ASSISTED DIAGNOSIS; EVALUATION; IMAGE ENHANCEMENT; INFORMATION RETRIEVAL; METHODOLOGY; REPRODUCIBILITY; SENSITIVITY AND SPECIFICITY; THREE DIMENSIONAL IMAGING;

ALGORITHMS; ARTIFICIAL INTELLIGENCE; IMAGE ENHANCEMENT; IMAGE INTERPRETATION, COMPUTER-ASSISTED; IMAGING, THREE-DIMENSIONAL; INFORMATION STORAGE AND RETRIEVAL; PATTERN RECOGNITION, AUTOMATED; REPRODUCIBILITY OF RESULTS; SENSITIVITY AND SPECIFICITY;

EID: 44849137199     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCB.2008.918567     Document Type: Article

References (36)

1. F. Arman and J. K. Aggarwal, "Model-based object recognition in dense-range images: A review," ACM Comput. Surv., vol. 25, no. 1, pp. 5-43, 1993.
2. P. J. Besl, Surfaces in Range Image Understanding. New York: Springer-Verlag, 1988.
3. P. J. Besl and R. C. Jain, "Segmentation through variable-order surface fitting," IEEE Trans. Pattern Anal. Mach. Intell., vol. 10, no. 2, pp. 167-192, Mar. 1988.
4. T. Chaperon and F. Goulette, "Extracting cylinders in full 3-D data using a random sampling method and the Gaussian image," in Proc. Vis. Model. Vis. Conf., 2001, pp. 35-42.
5. H. Chen and P. Meer, "Robust regression with projection based M-estimators," in Proc. 9th IEEE Int. Conf. Comput. Vis., Oct. 2003, pp. II:878-II:885.
6. R. Subbarao and P. Meer, "Heteroscedastic projection based M-estimators," in Proc. Workshop Empirical Eval. Methods Comput. Vis., Jun. 2005, p. III:38.
7. X. Chen and F. Schmitt, "Intrinsic surface properties from surface triangulation," in Proc. Eur. Conf. Comput. Vis., 1992, pp. 739-743.
8. Y. Cheng, "Mean shift, mode seeking and clustering," IEEE Trans. Pattern Anal. Mach. Intell., vol. 17, no. 8, pp. 790-799, Aug. 1995.
9. P. Chiabert and M. Costa, "Statistical modelling of nominal and measured mechanical surfaces," J. Comput. Inf. Sci. Eng., vol. 3, no. 1, pp. 87-94, 2003.
10. O. Chum and J. Matas, "Matching with PROSAC - Progressive sample consensus," in Proc. IEEE Comput. Soc. Conf. CVPR. Washington, DC: IEEE Comput. Soc., 2005, vol. 1, pp. 220-226.
11. O. Chum, J. Matas, and J. V. Kittler, "Locally optimized RANSAC," in Proc. DAGM, 2003, pp. 236-243.
12. D. Cohen-Steiner, P. Alliez, and M. Desbrun, "Variational shape approximation," ACM Trans. Graph., vol. 23, no. 3, pp. 905-914, 2004.
13. D. Comaniciu and P.Meer, "Mean shift: A robust approach toward feature space analysis," IEEE Trans. Pattern Anal. Mach. Intell., vol. 24, no. 5, pp. 603-619, May 2002.
14. Cyberware, Model 3030 Color 3D Scanhead. [Online]. Available: http://www.cyberware.com/products/scanners/3030.html
15. N. P. Draper and H. Smith, Applied Regression Analysis, 2nd ed. New York: Wiley, 1981.
16. T. J. Fan, G. Medioni, and R. Nevatia, "Recognizing 3-D objects using surface descriptions," IEEE Trans. Pattern Anal. Mach. Intell., vol. 11, no. 11, pp. 1140-1157, Nov. 1989.
17. M. A. Fischler and R. C. Bolles, "Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography," Commun. ACM, vol. 24, no. 6, pp. 381-395, Jun. 1981.
18. P. F. U. Gotardo, O. R. P. Bellon, K. L. Boyer, and L. Silva, "Range image segmentation into planar and quadric surfaces using an improved robust estimator and genetic algorithm," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 34, no. 6, pp. 2303-2315, Dec. 2004.
19. E. Hameiri and I. Shimshoni, "Estimating the principal curvatures and the Darboux frame from real 3D range data," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 33, no. 4, pp. 626-637, Aug. 2003.
20. R. I. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2nd ed. Cambridge, U.K.: Cambridge Univ. Press, 2004.
21. A. Hoover, G. Jean-Baptiste, X. Jiang, P. J. Flynn, H. Bunke, D. B. Goldgof, K. Bowyer, D.W. Eggert, A. Fitzgibbon, and R. B. Fisher, "An experimental comparison of range image segmentation algorithms," IEEE Trans. Pattern Anal. Mach. Intell., vol. 18, no. 7, pp. 673-689, Jul. 1996.
22. D. Marshall, G. Lukacs, and R. Martin, "Robust segmentation of primitives from range data in the presence of geometric degeneracy," IEEE Trans. Pattern Anal. Mach. Intell., vol. 23, no. 3, pp. 304-314, Mar. 2001.
23. M. J. Milroy, C. Bradley, and G. W. Vickers, "Segmentation of a wrap-around model using an active contour," Comput.-Aided Des., vol. 29, no. 4, pp. 299-320, 1997.
24. W. Press, B. Flannery, S. Teukolsky, and W. Vetterling, Numerical Recipes in C. Cambridge, U.K.: Cambridge Univ. Press, 1988.
25. D. Rogers and N. Fog, "Constrained B-spline curve and surface fitting," Comput.-Aided Des., vol. 21, no. 10, pp. 641-648, 1989.
26. S. Rozenfeld and I. Shimshoni, "The modified pbM-estimator and a runtime analysis technique for the RANSAC family," in Proc. IEEE Conf. Comput. Vis. Pattern Recog., 2005, pp. I:1113-I:1120.
27. C. M. Shakarji, "Least-squares fitting algorithms of the NIST algorithm testing system," J. Res. Nat. Inst. Stand. Technol., vol. 103, no. 6, pp. 633-641, Nov. 1998.
28. M. Singh, H. Arora, and N. Ahuja, "A robust probabilistic estimation framework for parametric image models," in Proc. Eur. Conf. Comput. Vis., 2004, pp. I:508-I:522.
29. D. R. Smith and T. Kanade, "Autonomous scene description with range imagery," Comput. Vis. Graph. Image Process., vol. 31, no. 3, pp. 322-334, Sep. 1985.
30. G. Taubin, "Estimating the tensor of curvature of a surface from a polyhedral approximation," in Proc. Int. Conf. Comput. Vis., 1995, pp. 902-907.
31. P. H. S. Torr and A. Zisserman, "MLESAC: A new robust estimator with application to estimating image geometry," Comput. Vis. Image Underst., vol. 78, no. 1, pp. 138-156, 2000.
32. E. Trucco and R. B. Fisher, "Experiments in curvature-based segmentation of range data," IEEE Trans. Pattern Anal. Mach. Intell. vol. 17, no. 2, pp. 177-182, Feb. 1995.
33. H. Wang and D. Suter, "MDPE: A very robust estimator for model fitting and range image segmentation," Int. J. Comput. Vis., vol. 59, no. 2, pp. 139-166, Sep. 2004.
34. M. Weiyin and J. P. Kruth, "Parameterization of randomly measured points for least squares fitting of B-spline curves and surfaces," Comput.-Aided Des., vol. 27, no. 9, pp. 663-675, 1995.
35. J. Wu and L. Kobbelt, "Structure recovery via hybrid variational surface approximation," Comput. Graph. Forum, vol. 24, no. 3, pp. 277-284, 2005.
36. C. Yang, R. Duraiswami, D. DeMenthon, and L. Davis, "Mean-shift analysis using quasi-Newton methods," in Proc. IEEE ICIP, 2003, pp. III:447-III:450.