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Authors: Marco A. Chavarria and Gerald Sommer

Affiliation: Cognitive Systems Group. Christian-Albrechts-University of Kiel, Germany

Keyword(s): Pose estimation, ICP algorithm, monogenic signal, pre-alignment, global and local features.

Related Ontology Subjects/Areas/Topics: Applications ; Computer Vision, Visualization and Computer Graphics ; Human-Computer Interaction ; Methodologies and Methods ; Model-Based Object Tracking in Image Sequences ; Motion and Tracking ; Motion, Tracking and Stereo Vision ; Pattern Recognition ; Physiological Computing Systems

Abstract: In this paper we present a new variant of ICP (iterative closest point) algorithm based on local feature correlation. Our approach combines global and local feature information to find better correspondence sets and to use them to compute the 3D pose of the object model even for the case of large displacements between model and image data. For such cases, we propose a 2D alignment in the image plane (rotation plus translation) before the feature extraction process. This has some advantages over the classical methods like better convergence and robustness. Furthermore, it avoids the need of a normal pre-alignment step in 3D. Our approach was tested on synthetical and real-world data to compare the convergence behavior and performance against other versions of the ICP algorithm combined with a classical pre-alignment approach.

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Paper citation in several formats:
A. Chavarria, M. and Sommer, G. (2008). CORRELATION ICP ALGORITHM FOR POSE ESTIMATION BASED ON LOCAL AND GLOBAL FEATURES. In Proceedings of the Third International Conference on Computer Vision Theory and Applications (VISIGRAPP 2008) - Volume 1: VISAPP; ISBN 978-989-8111-21-0; ISSN 2184-4321, SciTePress, pages 528-534. DOI: 10.5220/0001079305280534

@conference{visapp08,
author={Marco {A. Chavarria}. and Gerald Sommer.},
title={CORRELATION ICP ALGORITHM FOR POSE ESTIMATION BASED ON LOCAL AND GLOBAL FEATURES},
booktitle={Proceedings of the Third International Conference on Computer Vision Theory and Applications (VISIGRAPP 2008) - Volume 1: VISAPP},
year={2008},
pages={528-534},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001079305280534},
isbn={978-989-8111-21-0},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the Third International Conference on Computer Vision Theory and Applications (VISIGRAPP 2008) - Volume 1: VISAPP
TI - CORRELATION ICP ALGORITHM FOR POSE ESTIMATION BASED ON LOCAL AND GLOBAL FEATURES
SN - 978-989-8111-21-0
IS - 2184-4321
AU - A. Chavarria, M.
AU - Sommer, G.
PY - 2008
SP - 528
EP - 534
DO - 10.5220/0001079305280534
PB - SciTePress