3D Registration of Curves and Surfaces Using Local Differential Information
- Resource Type
- Conference
- Authors
- Raposo, Carolina; Barreto, Joao
- Source
- 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition CVPR Computer Vision and Pattern Recognition (CVPR), 2018 IEEE/CVF Conference on. :9300-9308 Jun, 2018
- Subject
- Computing and Processing
Three-dimensional displays
Navigation
Surgery
Complexity theory
Transmission line matrix methods
Surface reconstruction
Iterative closest point algorithm
- Language
- ISSN
- 2575-7075
This article presents for the first time a global method for registering 3D curves with 3D surfaces without requiring an initialization. The algorithm works with 2-tuples point+vector that consist in pairs of points augmented with the information of their tangents or normals. A closed-form solution for determining the alignment transformation from a pair of matching 2-tuples is proposed. In addition, the set of necessary conditions for two 2-tuples to match is derived. This allows fast search of correspondences that are used in an hypothesise-and-test framework for accomplishing global registration. Comparative experiments demonstrate that the proposed algorithm is the first effective solution for curve vs surface registration, with the method achieving accurate alignment in situations of small overlap and large percentage of outliers in a fraction of a second. The proposed framework is extended to the cases of curve vs curve and surface vs surface registration, with the former being particularly relevant since it is also a largely unsolved problem.