Elastic convolved ICP for the registration of deformable objects

This paper describes a method for registering deformable 3D objects. When an object such as a hand deforms, the deformation of the local shape is small, whereas the global shape deforms to a greater extent in many cases. Therefore, the local shape can be used as a feature for matching corresponding points. Instead of using a descriptor of the local shape, we introduce the convolution of the error between corresponding points for each vertex of a 3D mesh model. This approach is analogous to window matching in 2D image registration. Since the proposed method computes the convolution for every vertex in a model, it incorporates dense feature matching as opposed to sparse matching based on certain feature descriptors. Through experiments, we show that the convolution is useful for finding corresponding points and evaluate the accuracy of the registration.