Scale-Adaptive ICP

IF 2.5 4区计算机科学 Q2 COMPUTER SCIENCE, SOFTWARE ENGINEERING

Graphical Models Pub Date : 2021-07-01 DOI:10.1016/j.gmod.2021.101113

Yusuf Sahillioğlu , Ladislav Kavan

引用次数: 7

Abstract

We present a new scale-adaptive ICP (Iterative Closest Point) method which aligns two objects that differ by rigid transformations (translations and rotations) and uniform scaling. The motivation is that input data may come in different scales (measurement units) which may not be known a priori, or when two range scans of the same object are obtained by different scanners. Classical ICP and its many variants do not handle this scale difference problem adequately. Our novel solution outperforms three different methods that estimate scale prior to alignment and a fourth method that, similar to ours, jointly optimizes for scale during the alignment.

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Scale-Adaptive ICP

我们提出了一种新的尺度自适应ICP(迭代最近点)方法，该方法通过刚性变换(平移和旋转)和均匀缩放来对齐两个不同的对象。动机是输入数据可能以不同的尺度(测量单位)出现，这些尺度(测量单位)可能不是先验的，或者当同一物体的两个距离扫描由不同的扫描仪获得时。经典的ICP及其许多变体不能充分处理这种尺度差异问题。我们的新解决方案优于三种不同的方法，即在对齐之前估计规模，以及第四种方法，类似于我们的方法，在对齐期间共同优化规模。

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来源期刊

Graphical Models 工程技术-计算机：软件工程

CiteScore

3.60

自引率

5.90%

发文量

审稿时长

47 days

期刊介绍： Graphical Models is recognized internationally as a highly rated, top tier journal and is focused on the creation, geometric processing, animation, and visualization of graphical models and on their applications in engineering, science, culture, and entertainment. GMOD provides its readers with thoroughly reviewed and carefully selected papers that disseminate exciting innovations, that teach rigorous theoretical foundations, that propose robust and efficient solutions, or that describe ambitious systems or applications in a variety of topics. We invite papers in five categories: research (contributions of novel theoretical or practical approaches or solutions), survey (opinionated views of the state-of-the-art and challenges in a specific topic), system (the architecture and implementation details of an innovative architecture for a complete system that supports model/animation design, acquisition, analysis, visualization?), application (description of a novel application of know techniques and evaluation of its impact), or lecture (an elegant and inspiring perspective on previously published results that clarifies them and teaches them in a new way). GMOD offers its authors an accelerated review, feedback from experts in the field, immediate online publication of accepted papers, no restriction on color and length (when justified by the content) in the online version, and a broad promotion of published papers. A prestigious group of editors selected from among the premier international researchers in their fields oversees the review process.