219 views101 votes15 years 6 months ago 3DPVT 2002»
The iterative closest point (ICP) algorithm is widely used for the registration of geometric data. One of its main drawbacks is its quadratic time complexity O(N2 ) with the shape...
154 views127 votes15 years 5 months ago 3DIM 2001»
The ICP (Iterative Closest Point) algorithm is widely used for geometric alignment of three-dimensional models when an initial estimate of the relative pose is known. Many variant...
122 views101 votes15 years 5 months ago 3DIM 1997»
For registration of 3-D free-form surfaces we have developed a representation which requires no knowledge of the transformation between views. The representation comprises descrip...
113 views102 votes15 years 7 months ago 3DIM 2007»
We present an analytical method to estimate the absolute registration error bounds if two surfaces were to be aligned using the ICP (Iterative Closest Point) algorithm. The estima...
183 views128 votes15 years 5 months ago 3DIM 2003»
A method is presented that uses an Approximate Nearest Neighbor method for determining correspondences within the Iterative Closest Point Algorithm. The method is based upon the k...
111 views99 votes15 years 5 months ago 3DPVT 2004»
We present a non-rigid alignment algorithm for aligning high-resolution range data in the presence of lowfrequency deformations, such as those caused by scanner calibration error....
145 views121 votes15 years 6 months ago 3DIM 2003»
Autonomous range acquisition for 3D modeling requires reliable range registration, for both the precise localization of the sensor and combining the data from multiple scans for v...
188 views118 votes15 years 5 months ago 3DPVT 2004»
This paper proposes a novel method for global registration based on matching 3D medial structures of unorganized point clouds or triangulated meshes. Most practical known methods ...
144 views125 votes15 years 5 months ago 3DIM 2001»
Building 3D models of real-world objects by assembling views taken by a range sensor promises to be a more efficient method than manually producing CAD drawings. In this technique...
185 views100 votes15 years 7 months ago 3DPVT 2006»
This paper describes a probabilistic method of aligning and merging range images. We formulate these issues as problems of estimating the maximum likelihood. By examining the erro...