Global Hybrid Registration for 3D Constructed Surfaces using Ray-casting and Improved Self Adaptive Differential Evolution Algorithm

Tao Ngoc Linh, Hasegawa Hiroshi, Tam Bui

Abstract

As a fundamental task in computer vision, registration has been a solution for many application such as: world modeling, part inspection and manufacturing, object recognition, pose estimation, robotic navigation, and reverse engineering. Given two images, the aim is to find the best possible homogenous transformation movement resulting in a more completed view of objects or scenarios. The paper presents a novel algorithm of registering structured pointcloud surfaces by using a fast ray-casting based closest point method intergrated with a new developed global optimization method Improve Self Adaptive Differential Evolution (ISADE). Ray-casting based L2 error calculation method enables the algorithm to find the local minima error effectively while ISADE exploits the searching boundary to find the global minima. The new algorithm is evaluated on structured images captured by a Kinect camera to show the superior in quality and robustness of ISADE over state-of-the-art searching method and accuracy of the new method over a well known registration algorithm, KinectFusion.

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Paper Citation


in Harvard Style

Ngoc Linh T., Hiroshi H. and Bui T. (2016). Global Hybrid Registration for 3D Constructed Surfaces using Ray-casting and Improved Self Adaptive Differential Evolution Algorithm . In Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 4: VISAPP, (VISIGRAPP 2016) ISBN 978-989-758-175-5, pages 167-174. DOI: 10.5220/0005718901670174


in Bibtex Style

@conference{visapp16,
author={Tao Ngoc Linh and Hasegawa Hiroshi and Tam Bui},
title={Global Hybrid Registration for 3D Constructed Surfaces using Ray-casting and Improved Self Adaptive Differential Evolution Algorithm},
booktitle={Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 4: VISAPP, (VISIGRAPP 2016)},
year={2016},
pages={167-174},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005718901670174},
isbn={978-989-758-175-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 4: VISAPP, (VISIGRAPP 2016)
TI - Global Hybrid Registration for 3D Constructed Surfaces using Ray-casting and Improved Self Adaptive Differential Evolution Algorithm
SN - 978-989-758-175-5
AU - Ngoc Linh T.
AU - Hiroshi H.
AU - Bui T.
PY - 2016
SP - 167
EP - 174
DO - 10.5220/0005718901670174