15266073
Improving ICP with easy implementation for free-form surface matching
Automatic range image registration and matching is an attractive but unresolved problem in both the machine vision and pattern recognition literature. Since automatic range image registration and matching is inherently a very difficult problem, the algorithms developed are becoming more and more complicated. In this paper, we propose a novel practical algorithm for automatic free-form surface matching. This method directly manipulates the possible point matches established by the traditional ICP criterion based on both the collinearity and closeness constraints without any feature extraction, image pre-processing, or motion estimation from outliers corrupted data. A comparative study based on a large number of real range images has shown the accuracy and robustness of the novel algorithm.
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.
7923791
Discontinuity-Based Simplification of Free Form Surface From a Range Image
This paper improves an existing method for more accurate simplification of free form surface represented as dense points. The main improvement lies in two aspects: one is the introduction of a novel transformation of curvatures, the other is to propose sampling points using both curvature information and curvature variation information. The experimental results based on real images show that the original object surface has been better approximated and the majority of the surface discontinuities have been better preserved with considerably few sampled (5%) data points
35019950
A pseudo linearization method for accurate pose estimation from a single image
We propose a novel pseudo linearization method for accurate pose estimation from given correspondences between a 3D model and its projective image. A comparative study based on both synthetic data and real images has shown that the novel algorithm is accurate and robust.
10845590
Developing structural constraints for accurate registration of overlapping range images
Abstract Automatic image registration is an attractive and unresolved problem in the machine vision literature. This paper presents two novel structural constraints, namely proximity and closeness constraints, that improve both the accuracy and robustness of an existing motion consistency based algorithm (GICP) for automatic image registration. It also defines the conditions when such constraints are fired at specific points of the registration of two overlapping range images. The proximity constraint says that neighbouring points should be neighbouring before and after a rigid motion. The closeness constraint implements a local closest point search from the second image to the first image. While the GICP algorithm uses an exhaustive search for the closest points, in this paper, we employ the optimised k–d tree data structure to accelerate the closest point search. A large number of experiments based on real range images demonstrate that the combination of rigid motion constraints with these novel proximity and closeness constraints leads to a more accurate and robust evaluation of possible correspondences leading, in turn, to more accurate, robust and efficient automatic image 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.
18963770
A quasi-Monte Carlo method for computing areas of point-sampled surfaces
A novel and efficient quasi-Monte Carlo method for computing the area of a point-sampled surface with associated surface normal for each point is presented. Our method operates directly on the point cloud without any surface reconstruction procedure. Using the Cauchy-Crofton formula, the area of the point-sampled surface is calculated by counting the number of intersection points between the point cloud and a set of uniformly distributed lines generated with low-discrepancy sequences. Based on a clustering technique, we also propose an effective algorithm for computing the intersection points of a line with the point-sampled surface. By testing on a number of point-based models, experiments suggest that our method is more robust and more efficient than those conventional approaches based on surface reconstruction.
5878659
An optimization algorithm for free-form surface partitioning based on weighted gaussian image
Partitioning free-form surfaces into sub-patches and finding optimal representative normal for each patch to maximize a global objective function is an important two-level operation in diverse industrial applications. In this paper, by solving a maximum hemispherical partitioning problem raised from a weighted Gaussian image, an optimization algorithm is proposed to partition a free-form surface into two sub-patches and simultaneously report the optimal representative normals. By discretizing the free-form surface with W sample points and clustering normals on the surface with m distinct sample normals, the proposed algorithm is designed, in general, with O(m2W2) time complexity and O(W2) space complexity, and in particular, if the surface is convex, in O(m2 logm) time complexity. Case studies with four representative examples are presented and a real world application is exploited to demonstrate the effectiveness and usefulness of the proposed algorithm.
10288903
Sensor Planning with Non-linear Utility Functions
Sensor planning is concerned with when to sense and what to sense. We study sensor planning in the context of planning objectives that trade-off between minimizing the worst-case, expected, and best-case plan- execution costs. Sensor planning with these planning objectives is interesting because they are realistic and the frequency of sensing changes with the planning objective: more pessimistic decision makers tend to sense more frequently. We perform sensor planning by combining one of our techniques for planning with non-linear utility functions with an existing sensor-planning method. The resulting sensor-planning method is not only as easy to implement as the sensor-planning method that it extends but also (almost) as efficient. We demonstrate empirically how sensor plans change as the planning objective changes, using a common testbed for sensor planning.
11751960
Discovering auxiliary information for incremental computation
This paper presents program analyses and transformations that discover a general class of auxiliary information for any incremental computation problem. Combining these techniques with previous techniques for caching intermediate results, we obtain a systematic approach that transforms nonincremental programs into efficient incremental programs that use and maintain useful auxiliary information as well as useful intermediate results. The use of auxiliary information allows us to achieve a greater degree of incrementality than otherwise possible. Applications of the approach include strength reduction in optimizing compilers and finite differencing in transformational programming.
8159144
Processor frequency selection for SoC platforms for multimedia applications
Of late, there has been a considerable interest in generic and configurable system-on-chip platforms specifically targeted towards implementing multimedia applications. A number of such platforms offer the possibility of including processor soft cores which are highly customizable. For voltage/frequency scaled processors, such customization includes the selection of appropriate voltage/frequency operating points which are tuned to the application set to be mapped onto the platform. In this context, we present an analytical framework that can guide a system designer in identifying the frequency ranges that should be supported by the different processors of a platform architecture. This framework can also be used to identify how such frequency ranges depend on the different parameters of the architecture (such as on-chip buffer sizes), and the performance impacts associated with selecting a particular frequency range. In the case of multimedia streaming applications, identifying such performance impacts and tradeoffs involved in customizing a platform architecture is especially difficult due to the bursty nature of on-chip traffic arising out of multimedia processing and the high variability in their execution requirements. The framework presented here is designed to precisely capture such characteristics and can be used in the design-space exploration of energy-aware platform architectures for multimedia processing.