Simultaneous registration of multiple views with markers

Kim, Tae‐Wan; Seo, Yeong-Hwa; Lee, Sang-chul; Yang, Zhouwang; Chang, Moon Jong

doi:10.1016/j.cad.2008.10.007

Cited by 9 publications

(3 citation statements)

References 14 publications

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“…from laser scanners) provide one of the best surface estimations from all techniques. However, it has speed deficiency, sensor dimension and power consumption (Kim et al, 2009).…”

Section: Introductionmentioning

confidence: 99%

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Object Volumetric Estimation Based on Generic Fitted Primitives for Service Robotics

Cocias

Grigorescu

Moldoveanu

2012

Proceedings of the International Conference on Computer Vision Theory and Applications

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This paper present an approach for object surface estimation from a single perspective using a stereo camera configuration. The goal of the method is to capture the particularity of an object of interest by fitting a generic primitive who best models the recognized shape. The shape modeling process is performed on 3D Regions of Interest (ROI) obtained by classifying the objects present in disparity maps. The principle uses a number of control points, calculated from the primitive Point Distribution Model (PDM). These control points drive the modeling behavior in the disparity point cloud data based on the principle of active contours, or snakes. Finally a compact 3D object mesh can be generated using Delaunay triangulation. The obtained PDM models are intended to be used for the purpose of precise object manipulation in service robotics applications.

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“…from laser scanners) provide one of the best surface estimations from all techniques. However, it has speed deficiency, sensor dimension and power consumption (Kim et al, 2009).…”

Section: Introductionmentioning

confidence: 99%

“…The main challenge encountered during 3D reconstruction is the automatic computation of the 3D transformations that align the range data. Thus, the registration of different perspective point clouds into one common coordinate system represents one of the most researched topics in the vision community (Kim, 2009), (Stamos et al, 2008).…”

Section: Introductionmentioning

confidence: 99%

Object Volumetric Estimation Based on Generic Fitted Primitives for Service Robotics

Cocias

Grigorescu

Moldoveanu

2012

Proceedings of the International Conference on Computer Vision Theory and Applications

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show abstract

“…Coarse registration enables to estimate roughly the rigid transformation using commonly marker-based approach [9][10][11] or automatic shape alignment [12,13]. The second category of methods includes techniques such as the genetic algorithm, and Principal Component Analysis (PCA) [14] which has been robustified recently using the least-median-of-squares method (LMedS) for the principal axis determination in the presence of outliers [15].…”

Section: Introductionmentioning

confidence: 99%

Novel automated methods for coarse and fine registrations of point clouds in high precision metrology

Rantoson

Nouira²,

Anwer³

et al. 2015

Int J Adv Manuf Technol

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Several measuring systems can be combined to perform accurate assessments at the submicrometre level in dimensional metrology. The obtained data are fused into a common coordinate system using registration methods for which the optimal transformation parameters from the common parts of the data called correspondences are computed. New original automated coarse and fine registration methods are proposed here using discrete curvatures: an improved Hough Transformation method for the coarse registration and three Iterative Closest Points (ICP) variants for the fine registration. The enhancement of Hough consists of exploiting the curvature parameters in order to minimize the basic algorithm complexity. Thus local transformation parameters are only computed for points presenting similar precalculated surface type.While the rough alignment of the scene data and the model data is thereafter optimized through the fine registration using commonly ICP algorithm, the first ICP variant includes the curvedness and surface type similarity constraints, especially to reduce the searching area during the matching step.For the proposed second ICP variant, correspondences are searched using a specific distance criterion involving curvature features similarity measure defined from principal curvatures. The third ICP variant combines both point-to-point and point-to-plane minimizations automatically -2 -weighted in the objective function, with the use of Moving Least Squares (MLS) surface technique to determine the corresponding point in point-to-point part.The three developed methods are tested on simulated and real data obtained from a computer tomography (CT) system. The results reveal the benefit of the proposed new automated coarse and fine registration approaches.

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3D Structure Estimation from a Single View Using Generic Fitted Primitives (GFP)

Cocias

Grigorescu

Moldoveanu

2013

Communications in Computer and Information Science

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Simultaneous registration of multiple views with markers

Cited by 9 publications

References 14 publications

Object Volumetric Estimation Based on Generic Fitted Primitives for Service Robotics

Object Volumetric Estimation Based on Generic Fitted Primitives for Service Robotics

Novel automated methods for coarse and fine registrations of point clouds in high precision metrology

3D Structure Estimation from a Single View Using Generic Fitted Primitives (GFP)

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