Invariant Features and the Registration of Rigid Bodies (1999)
| Venue: | In IEEE International Conference on Robotics and Automation |
| Citations: | 14 - 4 self |
BibTeX
@INPROCEEDINGS{Sharp99invariantfeatures,
author = {Gregory C. Sharp and Gregory C. Sharp and Sang W. Lee and Sang W. Lee and David K. Wehe and David K. Wehe},
title = {Invariant Features and the Registration of Rigid Bodies},
booktitle = {In IEEE International Conference on Robotics and Automation},
year = {1999},
pages = {932--937}
}
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Abstract
This paper investigates the use of Euclidean invariants in the iterative closest point registration of range images. Invariants are used in a modified distance function for the selection of point correspondences. Theoretical results show that under ideal conditions, using invariants can only improve the chance of a making correct correspondences. In addition, monotonic convergence to a local minimum is preserved. Experimental results show that using invariant features accelerates the registration and decreases the probability of being trapped in a local minimum. Invariant Features and the Registration of Rigid Bodies Gregory C. Sharp y , Sang W. Lee y and David K. Wehe z y Department of Electrical Engineering and Computer Science z Department of Nuclear Engineering and Radiological Sciences University of Michigan Ann Arbor, MI 48109 Abstract This paper investigates the use of Euclidean invariants in the iterative closest point registration of range images. Invariants are used in a modified distance function for the selection of point correspondences. Theoretical results show that under ideal conditions, using invariants can only improve the chance of a making correct correspondences. In addition, monotonic convergence to a local minimum is preserved. Experimental results show that using invariant features accelerates the registration and decreases the probability of being trapped in a local minimum. 1
Citations
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