Sciweavers

Share
CVPR
1996
IEEE

Determining Correspondences and Rigid Motion of 3-D Point Sets with Missing Data

10 years 5 months ago
Determining Correspondences and Rigid Motion of 3-D Point Sets with Missing Data
This paper addresses the general 3-D rigid motion problem, where the point correspondences and the motion parameters between two sets of 3-D points are to be recovered. The existence of missing points in the two sets is the most di cult problem. We rst show a mathematical symmetry in the solutions of rotation parameters and point correspondences. A closed-form solution based on the correlation matrix eigenstructure decomposition is proposed for correspondence recovery with no missing points. Using a heuristic measure of point pair a nity derived from the eigenstructure, a weighted bipartite matching algorithm is developed to determine the correspondences in general cases where missing points occur. The use of the a nity heuristic also leads to a fast outlier removal algorithm, which can be run iteratively to re ne the correspondence recovery. Simulation results and experiments on real images are shown in both ideal and general cases.
Xiaoguang Wang, Yong-Qing Cheng, Robert T. Collins
Added 12 Oct 2009
Updated 30 Oct 2009
Type Conference
Year 1996
Where CVPR
Authors Xiaoguang Wang, Yong-Qing Cheng, Robert T. Collins, Allen R. Hanson
Comments (0)
books