Authors:
Tao Ngoc Linh
;
Hasegawa Hiroshi
and
Tam Bui
Affiliation:
Shibaura Institute of Technology, Japan
Keyword(s):
3D Registration, ISADE, Global Registration, Ray-casting.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Geometry and Modeling
;
Image and Video Analysis
;
Image Registration
;
Image-Based Modeling
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Software Engineering
;
Stereo Vision and Structure from Motion
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 a
nd accuracy of the new method over a well known registration algorithm, KinectFusion.
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