4-points congruent sets for robust pairwise surface registration date : 01/01/26 reporter :...
TRANSCRIPT
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4-Points Congruent Sets for Robust
Pairwise Surface Registration
Date : 01/01/26
Reporter : 鄒嘉恆
CVPR 2008
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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.
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Outline
MotivationProblemApproximate congruent 4-PointsThe 4PCS AlgorithmExperimental resultsConclusions
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Motivation
Two scansCorrupted with noise and outliers.In arbitrary initial poses with unknown overlap
Refer to Dror A.’s slide on SIGGRAPH 2008
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ProblemUsing wide base, not narrow-base
Registration first, denoising later.[Goodrich et al. 1994]
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Approximate congruent 4-Points
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Approximate congruent 4-PointsAffine invariants of 4-points set
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Approximate congruent 4-PointsAffine invariants of 4-points set
Refer to Dror A.’s slide on SIGGRAPH 2008
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Approximate congruent 4-PointsAffine invariants of 4-points set
Refer to Dror A.’s slide on SIGGRAPH 2008
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Approximate congruent 4-PointsAffine invariants of 4-points set
Refer to Dror A.’s slide on SIGGRAPH 2008
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Approximate congruent 4-PointsAffine invariants of 4-points set
Refer to Dror A.’s slide on SIGGRAPH 2008
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Approximate congruent 4-PointsAffine invariants of 4-points set
Refer to Dror A.’s slide on SIGGRAPH 2008
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Approximate congruent 4-PointsAffine invariants of 4-points set
Refer to Dror A.’s slide on SIGGRAPH 2008
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The 4PCS Algorithm
Refer to Dror A.’s slide on SIGGRAPH 2008
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The 4PCS Algorithm
Refer to Dror A.’s slide on SIGGRAPH 2008
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The 4PCS Algorithm
Refer to Dror A.’s slide on SIGGRAPH 2008
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The 4PCS Algorithm
Refer to Dror A.’s slide on SIGGRAPH 2008
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The 4PCS Algorithm
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The 4PCS Algorithm
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Experimental results
LD-RANSACLocal descrptors: spin images
[Li and Guskov 2005]
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Experimental results
LD-RANSACLocal descrptors: spin images + integral invariants
[Pottmann et al. 2007]
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Experimental results
Trial 1
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Experimental results
Trial 2
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Experimental results
Trial 2
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Experimental results
Trial 3
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Experimental results
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Experimental results
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Experimental results
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Experimental results
Limitation
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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.