Results 1  10
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23
Iterative point matching for registration of freeform curves and surfaces
, 1994
"... A heuristic method has been developed for registering two sets of 3D curves obtained by using an edgebased stereo system, or two dense 3D maps obtained by using a correlationbased stereo system. Geometric matching in general is a difficult unsolved problem in computer vision. Fortunately, in ma ..."
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Cited by 663 (7 self)
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A heuristic method has been developed for registering two sets of 3D curves obtained by using an edgebased stereo system, or two dense 3D maps obtained by using a correlationbased stereo system. Geometric matching in general is a difficult unsolved problem in computer vision. Fortunately, in many practical applications, some a priori knowledge exists which considerably simplifies the problem. In visual navigation, for example, the motion between successive positions is usually approximately known. From this initial estimate, our algorithm computes observer motion with very good precision, which is required for environment modeling (e.g., building a Digital Elevation Map). Objects are represented by a set of 3D points, which are considered as the samples of a surface. No constraint is imposed on the form of the objects. The proposed algorithm is based on iteratively matching points in one set to the closest points in the other. A statistical method based on the distance distribution is used to deal with outliers, occlusion, appearance and disappearance, which allows us to do subsetsubset matching. A leastsquares technique is used to estimate 3D motion from the point correspondences, which reduces the average distance between points in the two sets. Both synthetic and real data have been used to test the algorithm, and the results show that it is efficient and robust, and yields an accurate motion estimate.
Hierarchical Face Clustering on Polygonal Surfaces
, 2001
"... Many graphics applications, and interactive systems in particular, rely on hierarchical surface representations to efficiently process very complex models. Considerable attention has been focused on hierarchies of surface approximations and their construction via automatic surface simpliﬁ ..."
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Cited by 150 (1 self)
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Many graphics applications, and interactive systems in particular, rely on hierarchical surface representations to efficiently process very complex models. Considerable attention has been focused on hierarchies of surface approximations and their construction via automatic surface simpli&#64257;cation. Such representations have proven effective for adapting the level of detail used in real time display systems. However, other applications such as raytracing, collision detection, and radiosity benefit from an alternative multiresolution framework: hierarchical partitions of the original surface geometry. We present a new method for representing a hierarchy of regions on a polygonal surface which partition that surface into a set of face clusters. These clusters, which are connected sets of faces, represent the aggregate properties of the original surface a different scales rather than providing geometric approximations of varying complexity. We also describe the combination of an effective error metric and a novel algorithm for constructing these hierarchies.
Faithful LeastSquares Fitting of Spheres, Cylinders, Cones and Tori for Reliable Segmentation
 PROC. 5TH EUROPEAN CONF. COMPUTER VISION
, 1998
"... This paper addresses a problem arising in the reverse engineering of solid models from depthmaps. We wish to identify and fit surfaces of known type wherever these are a good fit. This paper presents a set of methods for the leastsquares fitting of spheres, cylinders, cones and tori to threed ..."
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Cited by 52 (8 self)
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This paper addresses a problem arising in the reverse engineering of solid models from depthmaps. We wish to identify and fit surfaces of known type wherever these are a good fit. This paper presents a set of methods for the leastsquares fitting of spheres, cylinders, cones and tori to threedimensional point data. Leastsquares fitting of surfaces other planes, even of simple geometric type, has been little studied. Our method
Robust Segmentation of Primitives from Range Data in the Presence of Geometric Degeneracy
 IEEE TRANS. PATTERN ANAL. MACH. INTELL
, 2001
"... This paper presents methods for the leastsquares fitting of spheres, cylinders, cones, and tori to 3D point data, and their application within a segmentation framework. Leastsquares fitting of surfaces other than planes, even of simple geometric type, has been rarely studied. Our main application ..."
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Cited by 50 (0 self)
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This paper presents methods for the leastsquares fitting of spheres, cylinders, cones, and tori to 3D point data, and their application within a segmentation framework. Leastsquares fitting of surfaces other than planes, even of simple geometric type, has been rarely studied. Our main application areas of this research are reverse engineering of solid models from depthmaps and automated 3D inspection where reliable extraction of these surfaces is essential. Our fitting method has the particular advantage of being robust in the presence of geometric degeneracy, i.e., as the principal curvatures of the surfaces being fitted decrease (or become more equal), the results returned naturally become closer and closer to those surfaces of simpler type, i.e., planes, cylinders, cones, or spheres, which best describe the data. Many other methods diverge because, in such cases, various parameters or their combination become infinite.
A Comparison of Local Surface Geometry Estimation Methods
, 1997
"... . The performance of several methods for estimating local surface geometry (the principal frame plus the principal quadric) are examined by applying them to a suite of synthetic and real test data which have been corrupted by various amounts of additive Gaussian noise. Methods considered include fin ..."
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Cited by 27 (3 self)
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. The performance of several methods for estimating local surface geometry (the principal frame plus the principal quadric) are examined by applying them to a suite of synthetic and real test data which have been corrupted by various amounts of additive Gaussian noise. Methods considered include finite differences, a facet based approach, and quadric surface fitting. The nonlinear quadric fitting method considered was found to perform the best but has the greatest computational cost. The facet based approach works as well as the other quadric fitting methods and has a much smaller computational cost. Hence it is the recommended method to use in practice. Key words: Principal quadric  Geometry  Estimation  Evaluation 1 Introduction This paper presents a comparative analysis of several techniques for determining the local surface geometry of smooth surfaces from 3D scanner data. That is, techniques for determining the principal frame and principal quadric at a point on a smooth s...
Geometric leastsquares fitting of spheres, cylinders, cones and tori
, 1997
"... This paper considers a problem arising in the reverse engineering of boundary representation solid models from threedimensional depth maps of scanned objects. In particular, we wish to identify and fit surfaces of known type wherever these are a good fit, and we briefly outline a segmentation strat ..."
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Cited by 14 (0 self)
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This paper considers a problem arising in the reverse engineering of boundary representation solid models from threedimensional depth maps of scanned objects. In particular, we wish to identify and fit surfaces of known type wherever these are a good fit, and we briefly outline a segmentation strategy for deciding to which surface type the depth points should be assigned. The particular contributions of this paper are methods for the leastsquares fitting of spheres, cylinders, cones and tori to threedimensional data. While plane fitting is well understood, leastsquares fitting of other surfaces, even of such simple geometric type, has been much less studied; we review previous approaches to the fitting of such surfaces. Our method has the particular advantage of being robust in the sense that as the principal curvatures of the surfaces being fitted decrease (or become more equal), the results which are returned naturally become closer and closer to the surfaces of “simpler type”, i.e. planes, cylinders, or cones (or spheres) which best describe the data, unlike other methods which may diverge as various parameters or their combination become infinite. Keywords. Nonlinear least squares. Geometric distance. Cylinder, cone, sphere, torus, surface fitting. 1
Continuous surfacepoint distributions for 3D object pose estimation and recognition
 In: ACCV (2010
"... Abstract. We present a 3D, probabilistic objectsurface model, along with mechanisms for probabilistically integrating unregistered 2.5D views into the model, and for segmenting model instances in cluttered scenes. The object representation is a probabilistic expression of object parts through smoot ..."
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Cited by 12 (8 self)
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Abstract. We present a 3D, probabilistic objectsurface model, along with mechanisms for probabilistically integrating unregistered 2.5D views into the model, and for segmenting model instances in cluttered scenes. The object representation is a probabilistic expression of object parts through smooth surfacepoint distributions obtained by kernel density estimation on 3D point clouds. A multipart, viewpointinvariant model is learned incrementally from a set of roughly segmented, unregistered views, by sequentially registering and fusing the views with the incremental model. Registration is conducted by nonparametric inference of maximumlikelihood model parameters, using Metropolis–Hastings MCMC with simulated annealing. The learning of viewpointinvariant models and the applicability of our method to pose estimation, object detection, and object recognition is demonstrated on 3Dscan data, providing qualitative, quantitative and comparative evaluations. 1
3D object reconstruction from Swissranger sensors data using a springmass model
 in Proc. 4th Int. Conf. Comput. Vision Theory and Applications
, 2009
"... Abstract: We register closerange depth images of objects using a Swissranger sensor and apply a springmass model for 3D object reconstruction. The Swissranger sensor delivers depth images in real time which have, compared with other types of sensors, such as laser scanners, a lower resolution and ..."
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Cited by 7 (7 self)
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Abstract: We register closerange depth images of objects using a Swissranger sensor and apply a springmass model for 3D object reconstruction. The Swissranger sensor delivers depth images in real time which have, compared with other types of sensors, such as laser scanners, a lower resolution and are afflicted with larger uncertainties. To reduce noise and remove outliers in the data, we treat the point cloud as a system of interacting masses connected via elastic forces. We investigate two models, one with and one without a surfacetopology preserving interaction strength. The algorithm is applied to synthetic and real Swissranger sensor data, demonstrating the feasibility of the approach. This method represents a preliminary step before fitting higherlevel surface descriptors to the data, which will be required to define objectaction complexes (OACS) for robot applications. 1
Representation and Classification of 3D Objects
 IEEE Transactions on Systems, Man, and Cybernetics—Part B: Cybernetics
, 2003
"... Abstract—This paper addresses the problem of generic object classification from threedimensional depth or meshed data. First, surface patches are segmented on the basis of differential geometry and quadratic surface fitting. These are represented by a modified Gaussian image that includes the well ..."
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Cited by 7 (0 self)
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Abstract—This paper addresses the problem of generic object classification from threedimensional depth or meshed data. First, surface patches are segmented on the basis of differential geometry and quadratic surface fitting. These are represented by a modified Gaussian image that includes the wellknown shape index. Learning is an interactive process in which a human teacher indicates corresponding patches, but the formation of generic classes is unaided. Classification of unknown objects is based on the measurement of similarities between feature sets of the objects and the generic classes. The process is demonstrated on a group of threedimensional (3D) objects built from both CAD and laserscanned depth data. Index Terms—Classification, object recognition, 3D vision. I.
Curvature computation on freeform 3d meshes at multiple scales. Computer Vision and Image Understanding 83(2
, 2001
"... A novel technique for multiscale curvature computation on a smoothed 3D surface is presented. This is achieved by iteratively convolving local parameterizations of the surface with 2D Gaussian filters. In our technique, semigeodesic coordinates are constructed at each vertex of the mesh which beco ..."
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Cited by 7 (0 self)
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A novel technique for multiscale curvature computation on a smoothed 3D surface is presented. This is achieved by iteratively convolving local parameterizations of the surface with 2D Gaussian filters. In our technique, semigeodesic coordinates are constructed at each vertex of the mesh which becomes the local origin. A geodesic from the origin is first constructed in an arbitrary direction such as the direction of one of the incident edges. The smoothing eliminates surface noise and small surface detail gradually and results in gradual simplification of the object shape. The surface Gaussian and mean curvature values are estimated accurately at multiple scales together with curvature zerocrossing contours. The curvature values are then mapped to colors and displayed directly on the surface. Furthermore, maxima of Gaussian and mean curvatures are also located and displayed on the surface. These features have been utilized by later processes for robust surface matching and object recognition. Our technique is independent of the underlying triangulation and is also more efficient than volumetric diffusion techniques since 2D rather than 3D convolutions are employed. Another advantage is that it is applicable to incomplete surfaces which arise during occlusion or to surfaces with holes. c ° 2001 Academic Press 1.