Partial and Approximate Symmetry Detection for 3D Geometry Mark Pauly Niloy J. Mitra Leonidas J. Guibas

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Symmetry in Nature “Symmetry is a complexity-reducing concept [...]; seek it everywhere.” - Alan J. Perlis "Females of several species, including […] humans, prefer symmetrical males." - Chris Evan

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Symmetry for Geometry Processing [Funkhouser et al. `05] [Sharf et al. `04] [Katz and Tal `04] [Khazdan et al. `04]

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Partial Symmetry Detection Given Shape model (represented as point cloud, mesh,... ) Identify and extract similar (symmetric) patches of different size across different resolutions Goal

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Related Work [Podolak et al. `06][Loy and Eklundh `06] Hough transform on feature points [Gal and Cohen-Or `05] tradeoff memory for speed

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Types of Symmetry Transform Types: Reflection Rotation + Translation Uniform Scaling

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Contributions Automatic detection of discrete symmetries ! reflection, rigid transform, uniform scaling Symmetry graphs ! high level structural information about object Output sensitive algorithms ! low memory requirements

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Problem Characteristics Difficulties Which parts are symmetric ! objects not pre-segmented Space of transforms: rotation + translation Brute force search is not feasible Easy Proposed symmetries ! easy to validate

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Reflective Symmetry

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Reflective Symmetry: A Pair Votes

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Reflective Symmetry: Voting Continues

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Reflective Symmetry: Voting Continues

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Reflective Symmetry: Largest Cluster Height of cluster ! size of patch Spread of cluster ! level of approximation

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Pipeline

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Pipeline

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Pruning: Local Signatures Local signature ! invariant under transforms Signatures disagree ! points don’t correspond Use (  1,  2 ) for curvature based pruning

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Reflection: Normal-based Pruning

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Point Pair Pruning all pairs curvature based curvature + normal based

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Transformations Reflection ! point-pairs Rigid transform ! more information Robust estimation of principal curvature frames [Cohen-Steiner et al. `03]

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Mean-Shift Clustering Kernel: Radially symmetric Radius/spread

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Verification Clustering gives a good guess Verify ! build symmetric patches Locally refine solution using ICP algorithm [Besl and McKay `92]

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Random Sampling Height of clusters related to symmetric region size Random samples ! larger regions likely to be detected earlier Output sensitive

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Model Reduction: Chambord

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Model Reduction: Chambord

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Model Reduction: Chambord

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Sydney Opera House

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Sydney Opera House

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Approximate Symmetry: Dragon correction field UNITS: fraction of bounding box diagonal detected symmetries

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Limitations Cannot differentiate between small sized symmetries and comparable noise [Castro et al. `06]

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Articulated Motion: Horses ‘symmetry’ detection between two objects ! registration

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra More details in the paper Symmetry graph reduction Analysis of sampling requirements

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Future Work Detect biased deformation Pose independent shape matching Application to higher dimensional data

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Acknowledgements DARPA, NSF, CARGO, ITR, and NIH grants Stanford Graduate Fellowship Pierre Alliez Mario Botsch Doo Young Kwon Marc Levoy Ren Ng Bob Sumner Dilys Thomas anonymous reviewers

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Thank you! Niloy J. Leonidas J. Mark

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Performance model# verticessign.pairingcluster.verif. Dragon 160, Opera 9, Castle 172, Horse 8, Arch 16, (time in seconds)

Partial and Approximation Symmetry Detection for 3D GeometryNiloy J. Mitra Comparison Podolak et al.Mitra et al. GoalTransformDiscrete symmetry SamplingUniform gridClustering VotingPoints onlyPoints, normals, curvature Symmetry types Planar reflectionreflection, rotation, trans., unif. scaling Detection types Perfect, partial, continuous Perfect, partial, approximate