4-points congruent sets for robust pairwise surface registration date : 01/01/26 reporter :...
TRANSCRIPT
4-Points Congruent Sets for Robust
Pairwise Surface Registration
Date : 01/01/26
Reporter : 鄒嘉恆
CVPR 2008
Introduction
They introduce 4PCS, a fast and robust alignment scheme for 3D point sets that uses wide bases, which are known to be resilient to noise and outliers.
Outline
MotivationProblemApproximate congruent 4-PointsThe 4PCS AlgorithmExperimental resultsConclusions
Motivation
Two scansCorrupted with noise and outliers.In arbitrary initial poses with unknown overlap
Refer to Dror A.’s slide on SIGGRAPH 2008
ProblemUsing wide base, not narrow-base
Registration first, denoising later.[Goodrich et al. 1994]
Approximate congruent 4-Points
Approximate congruent 4-PointsAffine invariants of 4-points set
Approximate congruent 4-PointsAffine invariants of 4-points set
Refer to Dror A.’s slide on SIGGRAPH 2008
Approximate congruent 4-PointsAffine invariants of 4-points set
Refer to Dror A.’s slide on SIGGRAPH 2008
Approximate congruent 4-PointsAffine invariants of 4-points set
Refer to Dror A.’s slide on SIGGRAPH 2008
Approximate congruent 4-PointsAffine invariants of 4-points set
Refer to Dror A.’s slide on SIGGRAPH 2008
Approximate congruent 4-PointsAffine invariants of 4-points set
Refer to Dror A.’s slide on SIGGRAPH 2008
Approximate congruent 4-PointsAffine invariants of 4-points set
Refer to Dror A.’s slide on SIGGRAPH 2008
The 4PCS Algorithm
Refer to Dror A.’s slide on SIGGRAPH 2008
The 4PCS Algorithm
Refer to Dror A.’s slide on SIGGRAPH 2008
The 4PCS Algorithm
Refer to Dror A.’s slide on SIGGRAPH 2008
The 4PCS Algorithm
Refer to Dror A.’s slide on SIGGRAPH 2008
The 4PCS Algorithm
The 4PCS Algorithm
Experimental results
LD-RANSACLocal descrptors: spin images
[Li and Guskov 2005]
Experimental results
LD-RANSACLocal descrptors: spin images + integral invariants
[Pottmann et al. 2007]
Experimental results
Trial 1
Experimental results
Trial 2
Experimental results
Trial 2
Experimental results
Trial 3
Experimental results
Experimental results
Experimental results
Experimental results
Limitation
Conclusions
A coplanar 4-points base allow us to employ a technique the efficiently matches pairs of affine invariants ratios in 3D.
More faster.Prevent noise and outliers.