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4-Points Congruent Sets for Robust Pairwise Surface Registration Date : 01/01/26 Reporter : 鄒嘉恆 CVPR 2008.

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Presentation on theme: "4-Points Congruent Sets for Robust Pairwise Surface Registration Date : 01/01/26 Reporter : 鄒嘉恆 CVPR 2008."— Presentation transcript:

1 4-Points Congruent Sets for Robust Pairwise Surface Registration Date : 01/01/26 Reporter : 鄒嘉恆 CVPR 2008

2 Introduction They introduce 4PCS, a fast and robust alignment scheme for 3D point sets that uses wide bases, which are known to be resilient to noise and outliers.

3 Outline Motivation Problem Approximate congruent 4-Points The 4PCS Algorithm Experimental results Conclusions

4 Motivation Two scans  Corrupted with noise and outliers.  In arbitrary initial poses with unknown overlap Refer to Dror A.’s slide on SIGGRAPH 2008

5 Problem Using wide base, not narrow-base Registration first, denoising later. [Goodrich et al. 1994]

6 Approximate congruent 4-Points

7 Affine invariants of 4-points set

8 Approximate congruent 4-Points Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008

9 Approximate congruent 4-Points Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008

10 Approximate congruent 4-Points Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008

11 Approximate congruent 4-Points Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008

12 Approximate congruent 4-Points Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008

13 Approximate congruent 4-Points Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008

14 The 4PCS Algorithm Refer to Dror A.’s slide on SIGGRAPH 2008

15 The 4PCS Algorithm Refer to Dror A.’s slide on SIGGRAPH 2008

16 The 4PCS Algorithm Refer to Dror A.’s slide on SIGGRAPH 2008

17 The 4PCS Algorithm Refer to Dror A.’s slide on SIGGRAPH 2008

18 The 4PCS Algorithm

19

20 Experimental results LD-RANSAC  Local descrptors: spin images [Li and Guskov 2005]

21 Experimental results LD-RANSAC  Local descrptors: spin images + integral invariants [Pottmann et al. 2007]

22 Experimental results Trial 1

23 Experimental results Trial 2

24 Experimental results Trial 2

25 Experimental results Trial 3

26 Experimental results

27

28

29 Limitation

30 Conclusions A coplanar 4-points base allow us to employ a technique the efficiently matches pairs of affine invariants ratios in 3D. More faster. Prevent noise and outliers.


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