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4-Points Congruent Sets for Robust Pairwise Surface Registration
Date : 01/01/26 Reporter : 鄒嘉恆 CVPR 2008
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Introduction They 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.
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Outline Motivation Problem Approximate congruent 4-Points
The 4PCS Algorithm Experimental results Conclusions
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Motivation Two scans Corrupted with noise and outliers.
In arbitrary initial poses with unknown overlap Refer to Dror A.’s slide on SIGGRAPH 2008
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Problem Using wide base, not narrow-base
Registration first, denoising later. [Goodrich et al. 1994]
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Approximate congruent 4-Points
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Approximate congruent 4-Points
Affine invariants of 4-points set
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Approximate congruent 4-Points
Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008
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Approximate congruent 4-Points
Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008
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Approximate congruent 4-Points
Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008
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Approximate congruent 4-Points
Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008
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Approximate congruent 4-Points
Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008
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Approximate congruent 4-Points
Affine invariants of 4-points set Refer to Dror A.’s slide on SIGGRAPH 2008
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The 4PCS Algorithm Refer to Dror A.’s slide on SIGGRAPH 2008
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The 4PCS Algorithm Refer to Dror A.’s slide on SIGGRAPH 2008
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The 4PCS Algorithm Refer to Dror A.’s slide on SIGGRAPH 2008
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The 4PCS Algorithm Refer to Dror A.’s slide on SIGGRAPH 2008
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The 4PCS Algorithm
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The 4PCS Algorithm
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Experimental results LD-RANSAC Local descrptors: spin images
[Li and Guskov 2005]
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Experimental results LD-RANSAC
Local descrptors: spin images + integral invariants [Pottmann et al. 2007]
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Experimental results Trial 1
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Experimental results Trial 2
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Experimental results Trial 2
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Experimental results Trial 3
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Experimental results
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Experimental results
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Experimental results
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Experimental results Limitation
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Conclusions A coplanar 4-points base allow us to employ a technique the efficiently matches pairs of affine invariants ratios in 3D. More faster. Prevent noise and outliers.
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