Title :
Estimating the 3D rigid transformation between two range views of a complex object
Author :
Bergevin, Robert ; Laurendeau, Denis ; Poussart, Denis
Author_Institution :
Dept. of Electr. Eng., Laval Univ., Que., Canada
fDate :
30 Aug-3 Sep 1992
Abstract :
Presents a method to compute the inter-frame transformation between two range image views of complex multi-part objects. No exact feature matching is attempted and no initial approximate transformation is provided. The method is naturally decomposed into two stages of initial estimation and final refinement of the transformation. A hierarchical triangulation-based surface representation provides an efficient way to select the control points at which the alignment of the two surfaces is to be evaluated. This representation also permits the selection of a manageable number of initial transformations among which at least one is to be in the parametric neighborhood of the actual transformation. Experimental results show that the computed transformation between two views of a complex multi-part object may provide angles of rotation within a fraction of a degree of the actual ones
Keywords :
computer vision; pattern recognition; 3D rigid transformation; angles of rotation; complex object; hierarchical triangulation-based surface representation; inter-frame transformation; multi-part objects; parametric neighborhood; range views; Cameras; Computer vision; Digital systems; Laboratories; Layout; Motion estimation; Noise reduction; Object recognition; Shape; Stereo vision;
Conference_Titel :
Pattern Recognition, 1992. Vol.I. Conference A: Computer Vision and Applications, Proceedings., 11th IAPR International Conference on
Conference_Location :
The Hague
Print_ISBN :
0-8186-2910-X
DOI :
10.1109/ICPR.1992.201604