4-points congruent sets for robust pairwise surface registration date : 01/01/26 reporter :...

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.