18042921
Transforming Least Squares to Weighted Least Squares for Accurate Range Image Registration
The traditional ICP algorithm is a de facto standard approach for range image registration. While it assumes that one data set is a subset of another, this assumption is often violated in practice. As a result, a number of algorithms have been developed to first eliminate false matches due to occlusion, appearance and disappearance of points and then estimate the camera motion parameters in the least squares sense. Instead of eliminating outliers in the process of image registration, we in this paper use the generalised entropy to estimate the probability of correspondences established using the traditional closest point criterion, leading camera motion parameters to be estimated in the weighted least squares sense. For more accurate registration results, we also learn from the probability of correspondences estimated in the past. Since one point in one data set can only correspond to a single point in another, the two way constraint is also imposed. Finally the cam era motion parameters are optimized using the powerful mean field annealing scheme. A comparative study based on real images has shown that the proposed algorithm produces promising automatic range image registration results.
9293300
Automatic registration of overlapping 3D point clouds using closest points
Abstract While the SoftAssign algorithm imposes a two-way constraint embedded into the deterministic annealing scheme and the EMICP algorithm imposes a one-way constraint, they represent the state of the art technique for the automatic registration of overlapping free form shapes. They both have a time complexity of O ( n 2 ). While the former has a space complexity also of O ( n 2 ), the latter has a space complexity of O ( n ). The heavy demand for computation and storage memory renders either the SoftAssign or EMICP algorithm to hardly operate on whole shapes with thousands of points. In this case, they often have to reduce the number of points to an order of 100s on the free form shapes to be registered. This paper proposes using closest points in conjunction with either the one-way or two-way constraint for the automatic registration of overlapping 3D point clouds and thus, combining the accuracy of both the SoftAssign and EMICP algorithms with the efficiency of the traditional ICP algorithm. A comparative study based on both synthetic data and real images has shown that the proposed algorithm does not significantly sacrifice accuracy and stability of either the SoftAssign or EMICP algorithm, but gains remarkable efficiency of the traditional ICP algorithm for the automatic registration of overlapping 3D point clouds. Since, the proposed algorithm is of general use and has an advantage of easy implementation, it is likely to become in the future a benchmark for the automatic registration of overlapping 3D point clouds.
14532857
Projecting registration error for accurate registration of overlapping range images
Abstract In this paper, we propose a novel algorithm for the automatic registration of two overlapping range images. Since it is relatively difficult to compare the registration errors of different point matches, we project them onto a virtual image plane for more accurate comparison using the classical pin-hole perspective projection camera model. While the traditional ICP algorithm is more interested in the points in the second image close to the sphere centred at the transformed point, the novel algorithm is more interested in the points in the second image as collinear as possible to the transformed point. The novel algorithm then extracts useful information from both the registration error and projected error histograms for the elimination of false matches without any feature extraction, image segmentation or the requirement of motion estimation from outliers corrupted data and, thus, has an advantage of easy implementation. A comparative study based on real images captured under typical imaging conditions has shown that the novel algorithm produces good registration results.
26921590
Evaluating structural constraints for accurate range image registration
New technological developments in optics and electronics are rendering laser scanning systems cheaper and more accurate. Such systems can directly capture depth information from objects simplifying range image analysis and enlarging their applications scope. Accurate image registration algorithms represent a pivotal aspect of range image analysis which still require substantial improvements. While a large number of algorithms have been proposed, it is very important to compare the performance of different registration algorithms so that good algorithms can be selected for real applications. Unfortunately, most of these algorithms are iterative with a number of parameters initialised by users. The main disadvantages of these methods are that these parameters are often context dependent. Thus, while aiming to develop automatic registration algorithms instead of comparing the registration algorithms themselves, we compare the structural constraints based on a single registration algorithm(GICP). A large number of experiments using real range images demonstrate their effectiveness on improving the GICP algorithm.
18353926
Inverse validation for accurate range image registration with structured data
Automatic range image registration is a fundamental yet extremely difficult problem in machine vision. In this paper, we extend a promising registration algorithm, the geometric iterative closest point (GICP), for structured image data. The extended algorithm is based on a relaxation method combining the motion estimation results from the possible correspondences established by the GICP algorithm and those that are further evaluated by an inverse validation procedure. A comparative study based on real images has shown that the extended algorithm is more accurate and robust than the original algorithm.
36759557
Geometrical analysis of two sets of 3D correspondence data patterns
Given two sets of image correspondence data, the analysis of the corresponding rigid body transformation that accurately describes the object's motion in 3D space is a fundamental problem in image understanding. While many methods have been put forward to analyse 3D transformations, such methods do not make use of the vector distance between feature points and angular information as constraints to analyse transformation parameters. Current methods and algorithms have also suffered from the problems of lack of efficiency, sensitivity to noise, and multiplicity of solutions. In this paper we present a novel geometrical analysis of rigid body transformations and a novel algorithm to calibrate transformation parameters based on image correspondence. The algorithm is validated through experimental calibration and a comparison is made with calibration implemented by the least squares method. We demonstrate that the proposed algorithm works well in the presence of noise and that its performance is in general superior to algorithms based on the least squares method.
15256053
Optimized triangle mesh reconstruction from unstructured points
A variety of approaches have been proposed for polygon mesh reconstruction from a set of unstructured sample points. Suffering from severe aliases at sharp features and having a large number of unnecessary faces, most resulting meshes need to be optimized using input sample points in a postprocess. In this paper, we propose a fast algorithm to reconstruct high-quality meshes from sample data. The core of our proposed algorithm is a new mesh evaluation criterion which takes full advantage of the relation between the sample points and the reconstructed mesh. Based on our proposed evaluation criterion, we develop necessary operations to efficiently incorporate the functions of data preprocessing, isosurface polygonization, mesh optimization and mesh simplification into one simple algorithm, which can generate high-quality meshes from unstructured point clouds with time and space efficiency.
389729
Predicting protein folds with structural repeats using a chain graph model
Protein fold recognition is a key step towards inferring the tertiary structures from amino-acid sequences. Complex folds such as those consisting of interacting structural repeats are prevalent in proteins involved in a wide spectrum of biological functions. However, extant approaches often perform inadequately due to their inability to capture long-range interactions between structural units and to handle low sequence similarities across proteins (under 25% identity). In this paper, we propose a chain graph model built on a causally connected series of segmentation conditional random fields (SCRFs) to address these issues. Specifically, the SCRF model captures long-range interactions within recurring structural units and the Bayesian network backbone decomposes cross-repeat interactions into locally computable modules consisting of repeat-specific SCRFs and a model for sequence motifs. We applied this model to predict β-helices and leucine-rich repeats, and found it significantly outperforms extant methods in predictive accuracy and/or computational efficiency.
17413518
Enhancing the Effectiveness of Clustering with Spectra Analysis
For many clustering algorithms, such as K-Means, EM, and CLOPE, there is usually a requirement to set some parameters. Often, these parameters directly or indirectly control the number of clusters, that is, k, to return. In the presence of different data characteristics and analysis contexts, it is often difficult for the user to estimate the number of clusters in the data set. This is especially true in text collections such as Web documents, images, or biological data. In an effort to improve the effectiveness of clustering, we seek the answer to a fundamental question: How can we effectively estimate the number of clusters in a given data set? We propose an efficient method based on spectra analysis of eigenvalues (not eigenvectors) of the data set as the solution to the above. We first present the relationship between a data set and its underlying spectra with theoretical and experimental results. We then show how our method is capable of suggesting a range of k that is well suited to different analysis contexts. Finally, we conclude with further empirical results to show how the answer to this fundamental question enhances the clustering process for large text collections.
8135643
Joint Segmentation and Classification of Dialog Acts in Multiparty Meetings
This paper investigates a scheme for joint segmentation and classification of dialog acts (DAs) of the ICSI Meeting Corpus based on hidden-event language models and a maximum entropy classifier for the modeling of word boundary types. Specifically, the modeling of the boundary types takes into account dependencies between the duration of a pause and its surrounding words. Results for the proposed method compare favorably with our previous work on the same task
6898492
Using Conditional Random Fields for Sentence Boundary Detection in Speech
Sentence boundary detection in speech is important for enriching speech recognition output, making it easier for humans to read and downstream modules to process. In previous work, we have developed hidden Markov model (HMM) and maximum entropy (Maxent) classifiers that integrate textual and prosodic knowledge sources for detecting sentence boundaries. In this paper, we evaluate the use of a conditional random field (CRF) for this task and relate results with this model to our prior work. We evaluate across two corpora (conversational telephone speech and broadcast news speech) on both human transcriptions and speech recognition output. In general, our CRF model yields a lower error rate than the HMM and Maxent models on the NIST sentence boundary detection task in speech, although it is interesting to note that the best results are achieved by three-way voting among the classifiers. This probably occurs because each model has different strengths and weaknesses for modeling the knowledge sources.