Morphological iterative closest point algorithm

Kapoutsis, Christos A.; Vavoulidis, C.P.; Pitas, Ioannis

doi:10.1109/83.799892

Cited by 41 publications

(31 citation statements)

References 12 publications

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“…The seed numbers are propagated together with distance values, so that each pixel is assigned the seed number of the pixel, from which its distance value propagated. Similar approaches are, for example, the pseudo-Dirichlet tessellation of binary images based on parallel distance transformations [12], and the morphological Voronoi tessellation algorithm of 3D volumes [19].…”

Section: Algorithm Extensionsmentioning

confidence: 99%

Priority pixel queue algorithm for geodesic distance transforms

Ikonen

2007

Image and Vision Computing

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Section: Algorithm Extensionsmentioning

confidence: 99%

Priority pixel queue algorithm for geodesic distance transforms

Ikonen

2007

Image and Vision Computing

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“…Relative pose between two laser scans has been traditionally computed using the ICP algorithm and its variants [1,4]. However, this algorithm diverges from the global minimum without a good initial estimate of the transformation matrix and is computationally expensive due to large number of iterations.…”

Section: Introductionmentioning

confidence: 99%

3D Laser scan registration of dual-robot system using vision

Kaushik

Xiao

Morris

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents a novel technique to register a set of two 3D laser scans obtained from a ground robot and a wall-climbing robot which operates on the ceilings to construct a complete map of the indoor environment. Traditional laser scan registration methods like the Iterative Closest Point (ICP) algorithm will not converge to a global minimum without a good initial estimate of the transformation matrix. Our technique uses an overhead camera on the wall-climbing robot to keep line of sight with the ground robot and solves the Perspective Three Point (P3P) Problem to obtain the transformation matrix between the wall-climbing robot and the ground robot, which serves as a good initial estimate for the ICP algorithm to further refine the transformation matrix. We propose a novel particle filter algorithm to identify the real pose of the wall-climbing robot out of up to four possible solutions to P3P problem using Grunert's solution. The initial estimation ensures convergence of the ICP algorithm to a global minimum at all times. The simulation and experimental results indicate that the resulting composite laser map is accurate. In addition, the vision-based approach increases the efficiency by reducing the number of iterations of the ICP algorithm.

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“…Among the various implementations available, we have used the version advanced by Pulli [16] for registering multiple 3-D views. Other implementative choices can be made as well [17,18].…”

Section: Fine Estimation Of the 3-d Rigid Transformationmentioning

confidence: 99%

Frequency domain registration of computer tomography data

Andreetto¹,

Cortelazzo²,

Lucchese³

Proceedings. 2nd International Symposium on 3D Data Processing, Visualization and Transmission, 2004. 3DPVT 2004.

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This paper presents a new method for registering computer tomography (CT) volumetric data of human bone structures relative to observations made at different times. The system we advance was tested with different kinds of CT data sets. In this paper we report on some representative experimental results obtained with the CT data of the hip bones of a patient prior to and after prosthetic surgery aimed at the reconstruction of the hip articulation. The method works with rigid data having arbitrary relative position and orientation and proves to be robust with respect to CT acquisition noise and with respect to the segmentation technique adopted to select the region of interest for registration. The method is capable of registering correctly data sets taken from the same articulation and whose components have undergone small relative displacements. The method is also amenable to registration of heteregeneous kinds of volumetric data, e.g., CT scans and Magnetic Resonance Imagery (MRI) scans, which show different characteristics in correspondence to the same organic structure.

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Morphological iterative closest point algorithm

Cited by 41 publications

References 12 publications

Priority pixel queue algorithm for geodesic distance transforms

Priority pixel queue algorithm for geodesic distance transforms

3D Laser scan registration of dual-robot system using vision

Frequency domain registration of computer tomography data

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