3d scan matching and registration iccv 2005 short course szymon rusinkiewicz michael kazhdan...

3D Scan Matching and 3D Scan Matching and RegistrationRegistration

ICCV 2005 Short CourseICCV 2005 Short Course

Szymon RusinkiewiczSzymon Rusinkiewicz

Michael KazhdanMichael Kazhdan

Benedict BrownBenedict Brown

Princeton UniversityPrinceton University

Johns Hopkins Johns Hopkins UniversityUniversity

Princeton UniversityPrinceton University

ThemesThemes

• Techniques involving (3D) geometric Techniques involving (3D) geometric similaritysimilarity

• Determining pose, correspondences, or Determining pose, correspondences, or bothboth

• Context:Context: 3D range image processing 3D range image processing pipelinepipeline

Range Processing PipelineRange Processing Pipeline

StepsSteps1. Initial alignment1. Initial alignment

2. Pairwise alignment2. Pairwise alignment

3. Global relaxation to spread 3. Global relaxation to spread out errorout error

4. Merge scans4. Merge scans

[Pulli][Pulli]

Range Processing PipelineRange Processing Pipeline

[Pulli][Pulli]

StepsSteps1. Initial alignment1. Initial alignment

2. Pairwise alignment2. Pairwise alignment

3. Global relaxation to spread 3. Global relaxation to spread out errorout error

4. Merge scans4. Merge scans

Range Processing PipelineRange Processing Pipeline

[Pulli][Pulli]

StepsSteps1. Initial alignment1. Initial alignment

2. Pairwise alignment2. Pairwise alignment

3. Global relaxation to spread 3. Global relaxation to spread out errorout error

4. Merge scans4. Merge scans

Range Processing PipelineRange Processing Pipeline

[Pulli][Pulli]

StepsSteps1. Initial alignment1. Initial alignment

2. Pairwise alignment2. Pairwise alignment

3. Global relaxation to spread 3. Global relaxation to spread out errorout error

4. Merge scans4. Merge scans

Range Processing PipelineRange Processing Pipeline

[Pulli][Pulli]

StepsSteps1. Initial alignment1. Initial alignment

2. Pairwise alignment2. Pairwise alignment

3. Global relaxation to spread 3. Global relaxation to spread out errorout error

4. Merge scans4. Merge scans

ScheduleSchedule

1.1. 3D Shape Matching – 3D Shape Matching – Michael KazhdanMichael Kazhdan

BreakBreak

2.2. Rigid-body pairwise and global Rigid-body pairwise and global alignment – alignment – Szymon RusinkiewiczSzymon Rusinkiewicz

3.3. Non-rigid global alignment for large Non-rigid global alignment for large scans – scans – Benedict BrownBenedict Brown