NDLI: 4-points congruent sets for robust pairwise surface registration

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4-points congruent sets for robust pairwise surface registration

Content Provider	ACM Digital Library
Author	Aiger, Dror Mitra, Niloy J. Cohen-Or, Daniel
Abstract	We introduce 4PCS, a fast and robust alignment scheme for 3D point sets that uses wide bases, which are known to be resilient to noise and outliers. The algorithm allows registering raw noisy data, possibly contaminated with outliers, without pre-filtering or denoising the data. Further, the method significantly reduces the number of trials required to establish a reliable registration between the underlying surfaces in the presence of noise, without any assumptions about starting alignment. Our method is based on a novel technique to extract all coplanar 4-points sets from a 3D point set that are approximately congruent, under rigid transformation, to a given set of coplanar 4-points. This extraction procedure runs in roughly $O(n^{2}$ + k) time, where n is the number of candidate points and k is the number of reported 4-points sets. In practice, when noise level is low and there is sufficient overlap, using local descriptors the time complexity reduces to O(n + k). We also propose an extension to handle similarity and affine transforms. Our technique achieves an order of magnitude asymptotic acceleration compared to common randomized alignment techniques. We demonstrate the robustness of our algorithm on several sets of multiple range scans with varying degree of noise, outliers, and extent of overlap.
Starting Page	1
Ending Page	10
Page Count	10
File Format	PDF QT / MOV
ISBN	9781450301121
DOI	10.1145/1399504.1360684
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2008-08-11
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Pairwise surface registration Affine invariant ratio Computational geometry Largest common pointset (lcp) measure Scan alignment Partial shape matching
Content Type	Video Text
Resource Type	Article

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