Abstract
The central theme of this chapter is surface registration, i.e. how to compute the correspondence between two surfaces, which are known to be overlapping or partially overlapping, w.r.t. the same underlying geometry. The algorithm presented to do this is the iterative closest point (ICP) algorithm, aimed at registering two individual 3D point sets. The ICP algorithm is covered in enough detail for the students to construct the algorithm as an exercise. The standard ICP algorithm is extended with an adapted version aimed at partially overlapping point sets. The chapter takes its outset in the merging of several partial surfaces, e.g. lasers scans, of a surface, and how to merge these into one. A methods for doing this is outlined, where registration is a central part, and references to the other tools are given, all covered elsewhere in this book.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
Singular Value Decomposition, cf. Chap. 2.
- 2.
If the determinant is −1 R is a reflection and not a rotation.
References
Johnson, A.E., Hebert, M.: Surface matching for object recognition in complex three-dimensional scenes. Image Vis. Comput. 16(9–10), 635–651 (1998). doi:10.1016/S0262-8856(98)00074-2
Salti, S., Tombari, F., Stefano, L.D.: A performance evaluation of 3d keypoint detectors. In: International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission, pp. 236–243 (2011)
Aanæs, H., Dahl, A., Steenstrup Pedersen, K.: Interesting interest points. International Journal of Computer Vision, 1–18 (2011). doi:10.1007/s11263-011-0473-8
Tuytelaars, T., Mikolajczyk, K.: Local Invariant Feature Detectors: A Survey. Now Publishers, Hanover (2008)
Besl, P.J., McKay, H.D.: A method for registration of 3D shapes. IEEE Trans. Pattern Anal. Mach. Intell. 14, 239–256 (1992)
Bentley, J.L.: Multidimensional binary search trees in database applications. IEEE Trans. Softw. Eng. 5, 333–340 (1979)
Jonker, R., Volgenant, A.: A shortest augmenting path algorithm for dense and sparse linear assignment problems. Computing 38, 325–340 (1987)
Marquardt, D.: An algorithm for least-squares estimation of nonlinear parameters. J. Soc. Ind. Appl. Math. 11, 431–441 (1963)
Arun, K.S., Huang, T.S., Blostein, S.D.: Least-squares fitting of two 3D point sets. IEEE Trans. Pattern Anal. Mach. Intell. 9, 698–700 (1987)
Rusinkiewicz, S., Levoy, M.: Efficient variants of the icp algorithm. In: Proceedings for the Third International Conference on 3D Digital Imaging and Modeling, pp. 145–152 (2001)
Turk, G., Levoy, M.: Zippered polygon meshes from range images. In: Computer Graphics Proceedings. Annual Conference Series, SIGGRAPH, pp. 311–318 (1994)
Chen, Y., Medioni, G.: Object modelling by registration of multiple range images. Image Vis. Comput. 10, 145–155 (1992)
Dorai, C., Wang, G., Jain, A.K., Mercer, C.: Registration and integration of multiple object views for 3D model construction. IEEE Trans. Pattern Anal. Mach. Intell. 20, 83–89 (1998)
Fitzgibbon, A.W.: Robust registration of 2D and 3D point sets. In: British Machine Vision Conference, pp. 662–670 (2001)
Zhang, Z.: Iterative point matching for registration of free-form curves and surfaces. Int. J. Comput. Vis. 13, 119–152 (1994)
Dorai, C., Weng, J., Jain, A.K.: Optimal registration of object views using range data. IEEE Trans. Pattern Anal. Mach. Intell. 19, 1131–1138 (1997)
Martins, F.C.M., Shiojiri, H., Moura, J.M.F.: 3D–3D registration of free formed objects using shape and texture. In: Proceedings of the SPIE—The International Society for Optical Engineering, pp. 263–274 (1974)
Bergevin, R., Soucy, M., Gagnon, H., Laurendeau, D.: Towards a general multi-view registration technique. IEEE Trans. Pattern Anal. Mach. Intell. 18, 540–547 (1996)
Levoy, M., Rusinkiewcz, S., Ginzton, M., Ginsberg, J., Pulli, K., Koller, D., Anderson, S., Shade, J., Curless, B., Pereira, L., Davis, J., Fulk, D.: The digital Michelangelo project: 3D scanning of large statues. In: Conference Proceedings on Computer Graphics Proceedings. Annual Conference Series 2000, SIGGRAPH 2000. pp. 131–144 (2000)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2012 Springer-Verlag London
About this chapter
Cite this chapter
Bærentzen, J.A., Gravesen, J., Anton, F., Aanæs, H. (2012). 3D Surface Registration via Iterative Closest Point (ICP). In: Guide to Computational Geometry Processing. Springer, London. https://doi.org/10.1007/978-1-4471-4075-7_15
Download citation
DOI: https://doi.org/10.1007/978-1-4471-4075-7_15
Publisher Name: Springer, London
Print ISBN: 978-1-4471-4074-0
Online ISBN: 978-1-4471-4075-7
eBook Packages: Computer ScienceComputer Science (R0)