Fast Global Registration

被引:737
作者
Zhou, Qian-Yi [1 ]
Park, Jaesik [1 ]
Koltun, Vladlen [1 ]
机构
[1] Intel Labs, Santa Clara, CA 95052 USA
来源
COMPUTER VISION - ECCV 2016, PT II | 2016年 / 9906卷
关键词
CLUTTERED SCENES; SURFACE REGISTRATION; OBJECT RECOGNITION; DATA SETS; ROBUST; ICP;
D O I
10.1007/978-3-319-46475-6_47
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
We present an algorithm for fast global registration of partially overlapping 3D surfaces. The algorithm operates on candidate matches that cover the surfaces. A single objective is optimized to align the surfaces and disable false matches. The objective is defined densely over the surfaces and the optimization achieves tight alignment with no initialization.No correspondence updates or closest-point queries are performed in the inner loop. An extension of the algorithm can perform joint global registration of many partially overlapping surfaces. Extensive experiments demonstrate that the presented approach matches or exceeds the accuracy of state-of-the-art global registration pipelines, while being at least an order of magnitude faster. Remarkably, the presented approach is also faster than local refinement algorithms such as ICP. It provides the accuracy achieved by well-initialized local refinement algorithms, without requiring an initialization and at lower computational cost.
引用
收藏
页码:766 / 782
页数:17
相关论文
共 41 条
[1]   4-points congruent sets for robust pairwise surface registration [J].
Aiger, Dror ;
Mitra, Niloy J. ;
Cohen-Or, Daniel .
ACM TRANSACTIONS ON GRAPHICS, 2008, 27 (03)
[2]  
[Anonymous], 2009, ICRA
[3]  
[Anonymous], 2001, 3DIM
[4]  
[Anonymous], 2010, CVPR
[5]  
[Anonymous], 2009, ICCV
[6]  
[Anonymous], 2013, CVPR
[7]  
[Anonymous], S GEOM PROC
[8]  
[Anonymous], 2014, ICRA
[9]   The robust estimation of multiple motions: Parametric and piecewise-smooth flow fields [J].
Black, MJ ;
Anandan, P .
COMPUTER VISION AND IMAGE UNDERSTANDING, 1996, 63 (01) :75-104
[10]   On the unification of line processes, outlier rejection, and robust statistics with applications in early vision [J].
Black, MJ ;
Rangarajan, A .
INTERNATIONAL JOURNAL OF COMPUTER VISION, 1996, 19 (01) :57-91