Post on 23-Dec-2015
3D Scan Matching and 3D Scan Matching and RegistrationRegistration
ICCV 2005 Short CourseICCV 2005 Short Course
Szymon RusinkiewiczSzymon Rusinkiewicz
Michael KazhdanMichael Kazhdan
Benedict BrownBenedict Brown
Princeton UniversityPrinceton University
Johns Hopkins Johns Hopkins UniversityUniversity
Princeton UniversityPrinceton University
ThemesThemes
• Techniques involving (3D) geometric Techniques involving (3D) geometric similaritysimilarity
• Determining pose, correspondences, or Determining pose, correspondences, or bothboth
• Context:Context: 3D range image processing 3D range image processing pipelinepipeline
Range Processing PipelineRange Processing Pipeline
StepsSteps1. Initial alignment1. Initial alignment
2. Pairwise alignment2. Pairwise alignment
3. Global relaxation to spread 3. Global relaxation to spread out errorout error
4. Merge scans4. Merge scans
[Pulli][Pulli]
Range Processing PipelineRange Processing Pipeline
[Pulli][Pulli]
StepsSteps1. Initial alignment1. Initial alignment
2. Pairwise alignment2. Pairwise alignment
3. Global relaxation to spread 3. Global relaxation to spread out errorout error
4. Merge scans4. Merge scans
Range Processing PipelineRange Processing Pipeline
[Pulli][Pulli]
StepsSteps1. Initial alignment1. Initial alignment
2. Pairwise alignment2. Pairwise alignment
3. Global relaxation to spread 3. Global relaxation to spread out errorout error
4. Merge scans4. Merge scans
Range Processing PipelineRange Processing Pipeline
[Pulli][Pulli]
StepsSteps1. Initial alignment1. Initial alignment
2. Pairwise alignment2. Pairwise alignment
3. Global relaxation to spread 3. Global relaxation to spread out errorout error
4. Merge scans4. Merge scans
Range Processing PipelineRange Processing Pipeline
[Pulli][Pulli]
StepsSteps1. Initial alignment1. Initial alignment
2. Pairwise alignment2. Pairwise alignment
3. Global relaxation to spread 3. Global relaxation to spread out errorout error
4. Merge scans4. Merge scans
ScheduleSchedule
1.1. 3D Shape Matching – 3D Shape Matching – Michael KazhdanMichael Kazhdan
BreakBreak
2.2. Rigid-body pairwise and global Rigid-body pairwise and global alignment – alignment – Szymon RusinkiewiczSzymon Rusinkiewicz
3.3. Non-rigid global alignment for large Non-rigid global alignment for large scans – scans – Benedict BrownBenedict Brown