research-article

Transformed polynomials for global registration of point clouds

Authors:

Ruediger Schmedding,

Wolfram Burgard,

Matthias TeschnerAuthors Info & Claims

SCCG '11: Proceedings of the 27th Spring Conference on Computer Graphics

Pages 129 - 136

https://doi.org/10.1145/2461217.2461242

Published: 28 April 2011 Publication History

Abstract

In this paper, we introduce a novel approach for global registration of partially overlapping point clouds. The approach identifies feature points of matching objects based on surface-approximating polynomials and finds an initial transformation depending on these polynomials. We compute an extended set of rotationally-invariant features for polynomials. In contrast to purely feature-based approaches, we do not only compute transformations based on the invariant properties of polynomials, but actually transform the polynomials into a common coordinate system and compare the transformed coefficients. This results in an improved correspondence analysis of local surfaces. Hence, using transformed polynomials, we gain more discriminating information about different structures. Therefore, the approach can handle partial scans of different objects simultaneously. Each partial scan is assigned to one of the objects and registered accordingly. Moreover, the approach is robust against noise and can process real data.

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Cited By

Aleotti JRizzini DMonica RCaselli S(2014)Global registration of mid-range 3D observations and short range next best views2014 IEEE/RSJ International Conference on Intelligent Robots and Systems10.1109/IROS.2014.6943077(3668-3675)Online publication date: Sep-2014
https://doi.org/10.1109/IROS.2014.6943077
Kulkarni NKumar STriggs BBala KChandran S(2012)Vote based correspondence for 3D point-set registrationProceedings of the Eighth Indian Conference on Computer Vision, Graphics and Image Processing10.1145/2425333.2425355(1-8)Online publication date: 16-Dec-2012
https://dl.acm.org/doi/10.1145/2425333.2425355

Index Terms

Transformed polynomials for global registration of point clouds
1. Computing methodologies
  1. Computer graphics
    1. Shape modeling
2. Theory of computation
  1. Randomness, geometry and discrete structures

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cover image ACM Other conferences

SCCG '11: Proceedings of the 27th Spring Conference on Computer Graphics

April 2011

158 pages

ISBN:9781450319782

DOI:10.1145/2461217

Conference Chair:
Tomoyuki Nishita
The University of Tokyo, Japan
,
Editor:
Stephen Spencer
University of Washington

Copyright © 2011 ACM.

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Comenius University: Comenius University

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SIGGRAPH: ACM Special Interest Group on Computer Graphics and Interactive Techniques
EUROGRAPHICS: The European Association for Computer Graphics

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 28 April 2011

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Deutsche Forschungsgemeinschaft

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SCCG '11

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Comenius University

SCCG '11: Spring Conference on Computer Graphics

April 28 - 30, 2011

Viničné, Slovak Republic

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SCCG '11 Paper Acceptance Rate 20 of 42 submissions, 48%;

Overall Acceptance Rate 67 of 115 submissions, 58%

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Cited By

Aleotti JRizzini DMonica RCaselli S(2014)Global registration of mid-range 3D observations and short range next best views2014 IEEE/RSJ International Conference on Intelligent Robots and Systems10.1109/IROS.2014.6943077(3668-3675)Online publication date: Sep-2014
https://doi.org/10.1109/IROS.2014.6943077
Kulkarni NKumar STriggs BBala KChandran S(2012)Vote based correspondence for 3D point-set registrationProceedings of the Eighth Indian Conference on Computer Vision, Graphics and Image Processing10.1145/2425333.2425355(1-8)Online publication date: 16-Dec-2012
https://dl.acm.org/doi/10.1145/2425333.2425355

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