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Refined modeling and protection of grotto monastery based on icp algorithm and Poisson algorithm

INFRASTRUCTURE ASSET MANAGEMENT 2025年第1期12卷 15-25页

作者： Li, Xiaoli Shanxi Vocat Coll Tourism Off Teaching Affairs Taiyuan Peoples R China

Cultural relics carry the precious heritage of historical culture and contemporary civilization, and their importance cannot be replaced. However, as a non renewable cultural heritage, grotto temples are facing many value threats and crises of rapid extinction. Due to the unique environment, diverse volume, and complex geometric structure of the cave temples, the protection of cultural relics faces enormous challenges, and digitization has become the most important and effective preventive protection method. In this study, a perfect modeling method is proposed, that is, using 3 D laser scanning technology to obtain the point cloud data of grottoes relics, near-up photogrammetry to obtain multi-angle and high-resolution two-dimensional image data, and obtaining the complete geometric model of grottoes through the fusion modeling of laser point cloud and image dense matching point cloud. In addition, according to the texture mapping problem of complex models, the high resolution mapping of the texture image is realized by using the weighted thin plate spline function, so as to obtain the high quality and high precision three-dimensional cultural relic model. The improved algorithm's registration method performs better in terms of Euclidean distance residuals, with residuals mainly distributed in the range of 0.02 to 0.03 millimeters. In terms of texture mapping, the model mapping accuracy is adjusted by adjusting the constraints of control points. The grayscale values of 50 pixels around the control point show significant gradient changes in the X direction, while the changes in the Y direction are relatively small. These methods and technologies provide practical and effective means for the protection and preservation of cultural relics in cave temples, and will provide important references for future cultural relic protection work.

关键词： artistic intelligence construction icp algorithm Poisson algorithm protection of grotto temples refined modelling

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Automatic virtual reduction of unilateral zygomatic fractures based on icp algorithm: A preliminary study

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Journal of Stomatology, Oral and Maxillofacial Surgery 2025年 102220页

作者： Liu, Runqi Jie, Bimeng Tong, Yanhang Wang, Junchen He, Yang Department of Oral and Maxillofacial Surgery Peking University School and Hospital of Stomatology China National Engineering Laboratory for Digital and Material Technology of Stomatology China Beijing Key Laboratory of Digital Stomatology China National Clinical Research Center for Oral Diseases Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China

Objective: To establish an automatic reduction method for unilateral zygomatic fractures based on Iterative Closes Point (icp) algorithm. Material and methods: 60 patients with unilateral type B zygomatic fractures were included. After acquiring CT images, zygomatic fragments were segmented using self-developed software MICSys. Mid-Sagittal-Plane (MSP) was manually defined using anatomical skull landmarks. Surface of zygoma on the healthy side was then “mirrored” according to MSP. Referring to mirror image, the fragments were reduced by both automatic and manual methods. In automatic group, fragments were registered onto mirror images by icp algorithm in MICSys. In manual group, an experienced maxillofacial surgeon translated and rotated fragments until coincided with mirror images. Operating time of each group was recorded. RMSE between reduced fragment and mirror image was calculated to evaluate accuracy. Operating time and accuracy between the two groups were compared using T-test. Results: Virtual bone reduction was conducted for all 60 patients by the two methods. Operating time of automatic group and manual group were 3.06 ± 1.93 s and 65.45 ± 32.19 s, with significant difference (P < 0.0001). RMSE of automatic group and manual group were 1.94 ± 0.59 mm and 2.33 ± 0.57 mm, with significant difference (P < 0.0001). Conclusion: Automatic reduction method based on icp algorithm for unilateral zygomatic fractures was initially established and clinically acceptable. © 2025 Elsevier Masson SAS

关键词： Bone reduction Computer-assisted surgery icp algorithm Zygomatic fracture

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3D registration using a new implementation of the icp algorithm based on a comprehensive lookup matrix:: Application to medical imaging

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PATTERN RECOGNITION LETTERS 2007年第12期28卷 1523-1533页

作者： Almhdie, Ahmad Leger, Christophe Deriche, Mohamed Ledee, Roger Univ Orleans Lab Elect Signals & Images F-45067 Orleans France King Fahd Univ Petr & Minerals Dept Elect Engn Dhahran 31261 Saudi Arabia

The iterative closest point (icp) algorithm is an efficient algorithm for robust rigid registration of 3D data. Results provided by the algorithm are highly dependent upon the step of finding corresponding pairs between the two sets of 3D data before registration. In this paper, a look up matrix is introduced in the point matching step to enhance the overall icp performance. Convergence properties and robustness are evaluated in the presence of Gaussian and impulsive noise, and under different data set sizes. The new algorithm has been evaluated on 3D medical data. It has been applied successfully to register closed surfaces acquired using different medical imaging modalities. (c) 2007 Elsevier B.V. All rights reserved.

关键词： surface registration icp algorithm point matching medical data

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A modified icp algorithm based on dynamic adjustment factor for registration of point cloud and CAD model

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PATTERN RECOGNITION LETTERS 2015年第Nov.1期65卷 88-94页

作者： Li, Weimin Song, Pengfei Univ Sci & Technol China Dept Accuracy Machinery & Accuracy Instrumentat Hefei 230026 Anhui Peoples R China

This paper presents a modified icp algorithm based On dynamic adjustment factor to speed up registration of point cloud and CAD model with high accuracy. The algorithm comes from a two-step optimization on the basic of original icp. First, aiming at original icp algorithm's time consuming in searching for corresponding point, we present a novel solution to search for the corresponding point based on STL (STereo Lithography) triangular mesh in CAD model. The solution makes full use of the advantages of STL file which consists of lists of facet data and vector information of triangular mesh to search for point cloud's corresponding points. Second, aiming at the algorithm's very slow iterative process, we put forward a kind of dynamic adjustment factor the factor of dynamically adjusting the rigid transformation parameters which can make point cloud over-travel by rigid transformation along original trend in each iteration. When adding dynamic adjustment factor, the algorithm could search more effective corresponding points in next iteration, thus reducing the number of iterations and speeding up the registration. Experiments show that the modified icp can effectively reduce time consuming in registration of point cloud and CAD model, meanwhile iinproving the registration accuracy. (C) 2015 Elsevier B.V. All rights reserved.

关键词： Point cloud Registration CAD model icp algorithm STL triangular mesh

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Object pose estimation based on stereo vision with improved K-D tree icp algorithm

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CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE 2023年第21期35卷

作者： Huang, Li Wang, Cheng Yun, Juntong Tao, Bo Qi, Jinxian Liu, Ying Ma, Hongjie Yu, Hui Wuhan Univ Sci & Technol Coll Comp Sci & Technol Wuhan 430081 Peoples R China Wuhan Univ Sci & Technol Hubei Prov Key Lab Intelligent Informat Proc & Rea Wuhan 430081 Peoples R China Wuhan Univ Sci & Technol Key Lab Met Equipment & Control Technol Minist Educ Wuhan 430081 Peoples R China Wuhan Univ Sci & Technol Res Ctr Biomimet Robot & Intelligent Measurement & Wuhan 430081 Peoples R China Wuhan Univ Sci & Technol Hubei Key Lab Mech Transmiss & Mfg Engn Wuhan 430081 Peoples R China Hubei Longzhong Lab Xiangyang 441000 Hubei Peoples R China Univ Portsmouth Sch Energy & Elect Engn Portsmouth PO1 3HF England Univ Portsmouth Sch Creat Technol Portsmouth PO1 2UP England

With the wide application of stereovision in SLAM, object pose estimation has gradually become one of the research hotspots. This article proposes an object pose estimation for robotic grasping based on stereo vision with improved K-D tree icp algorithm. The feature points and feature descriptors of the point cloud of the object to be captured are extracted, and the feature template set is established. The SAC-IA algorithm is used to carry out initial registration of the point cloud of the target, and the icp algorithm based on K-D tree is used for fine registration. The experimental results show that the average coincidence degree of the final registration of the proposed object pose estimation method reaches 94.1%, and the accurate 6D pose of the object to be grasped is obtained.

关键词： icp algorithm K-D tree point cloud pose estimation SAC-IA algorithm stereo vision

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On the performance of the icp algorithm

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COMPUTATIONAL GEOMETRY-THEORY AND APPLICATIONS 2008年第1-2期41卷 77-93页

作者： Ezra, Esther Sharir, Micha Efrat, Alon Tel Aviv Univ Sch Comp Sci IL-69978 Tel Aviv Israel NYU Courant Inst Math Sci New York NY 10012 USA Univ Arizona Sch Comp Sci Tucson AZ 85721 USA

We present upper and lower bounds for the number of iterations performed by the Iterative Closest Point (icp) algorithm. This algorithm has been proposed by Besl and McKay as a successful heuristic for matching of point sets in d-space under translation, but so far it seems not to have been rigorously analyzed. We consider two standard measures of resemblance that the algorithm attempts to optimize: The RMS (root mean squared distance) and the (one-sided) Hausdorff distance. We show that in both cases the number of iterations performed by the algorithm is polynomial in the number of input points. In particular, this bound is quadratic in the one-dimensional problem, under the RMS measure, for which we present a lower bound construction of Omega (n log n) iterations, where n is the overall size of the input. Under the Hausdorff measure, this bound is only O(n) for input point sets whose spread is polynomial in n, and this is tight in the worst case. We also present several structural geometric properties of the algorithm under both measures. For the RMS measure, we show that at each iteration of the algorithm the cost function monotonically and strictly decreases along the vector Delta t of the relative translation. As a result, we conclude that the polygonal path pi, obtained by concatenating all the relative translations that are computed during the execution of the algorithm, does not intersect itself. In particular, in the one-dimensional problem all the relative translations of the icp algorithm are in the same (left or right) direction. For the Hausdorff measure, some of these properties continue to hold (such as monotonicity in one dimension), whereas others do not. (c) 2008 Elsevier B.V. All rights reserved.

关键词： pattern matching icp algorithm nearest neighbors Voronoi diagrams Hausdorff distance RMS

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Correlation icp algorithm for pose estimation based on local and global features

Correlation ICP algorithm for pose estimation based on local...

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3rd International Conference on Computer Vision Theory and Applications

作者： Chavarria, Marco A. Sommer, Gerald Univ Kiel Cognit Syst Grp D-24098 Kiel Germany

ISBN: (纸本)9789898111210

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.

关键词： pose estimation icp algorithm monogenic signal pre-alignment global and local features

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Modification of the icp algorithm for Detection of the Occlusal Area of Dental Arches 5th

Modification of the ICP Algorithm for Detection of the Occlu...

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5th International Conference on Information Technologies in Biomedicine (ITIB)

作者： Skabek, Krzysztof Tomaka, Agnieszka Anna Polish Acad Sci Inst Theoret & Appl Informat BalTycka 5 Gliwice Poland

ISBN: (纸本)9783319397962;9783319397955

We focused on the the process of finding the occlusal area of dental arches. The algorithm for detection of the occlusion area has been proposed. It is based on the icp method that iteratively finds the best matching of two sets of points. The introduced method was discussed and compared to manually found occlusions and also to another methods.

关键词： 3D segmentation Surface models Dental arches Occlusion detection icp algorithm

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Structural icp algorithm for pose estimation based on local features

Structural ICP algorithm for pose estimation based on local ...

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2nd International Conference on Computer Graphics Theory and Applications/2nd International Conference on Computer Vision Theory and Applications

作者： Chavarria, Marco A. Sommer, Gerald Univ Kiel Cognit Syst Grp Olshaussenstr 40 D-24098 Kiel Germany

ISBN: (纸本)9789728865740

In this paper we present a new variant of the icp (iterative closest point) algorithm for finding correspondences between image and model points. This new variant uses structural information from the model points and contour segments detected in images to find better conditioned correspondence sets and to use them to compute the 3D pose. A local representation of 3D free-form contours is used to get the structural information in 3D space and in the image plane. Furthermore, the local structure of free-form contours is combined with orientation and phase as local features obtained from the monogenic signal. With this combination, we achieve a more robust correspondence search. Our approach was tested on synthetical and real data to compare the convergence and performance of our approach against the classical icp approach.

关键词： pose estimation icp algorithm monogenic signal

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Research on Optimization of Point Cloud Registration icp algorithm 8th

Research on Optimization of Point Cloud Registration ICP Alg...

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8th Pacific-Rim Symposium on Image and Video Technology (PSIVT)

作者： Liu, Jian Shang, Xiuqin Yang, Shuzhan Shen, Zhen Liu, Xiwei Xiong, Gang Nyberg, Timo R. Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Chinese Acad Sci Cloud Comp Ctr Dongguan 523808 Peoples R China Beijing Univ Chem Technol Coll Informat Sci & Technol Beijing 100029 Peoples R China Peking Univ Coll Engn Dept Mech & Engn Sci MES Beijing 100871 Peoples R China Qingdao Acad Intelligent Ind Inst Smart Educ Syst Qingdao 266109 Peoples R China Chinese Acad Sci Beijing Engn Res Ctr Intelligent Syst & Technol Inst Automat Beijing 100190 Peoples R China Aalto Univ Sch Sci Dept Ind Engn & Management POB 11000 Aalto 00076 Finland

ISBN: (纸本)9783319927534;9783319927527

Point cloud data, as a basis for the three-dimensional data types has attracted more and more attention these years. compared with other types of three-dimensional data, point cloud data can be collected by simple ways, and it contains surface texture, surface color, and other types of features on the surface of the target object. Recently, in the field of cloud data processing, many new point cloud processing methods have been proposed on the basis of existed theory, among which, the most notable one is the newly proposed algorithm in the field of point cloud registration. In this paper, an improved point cloud registration algorithm based on classical icp algorithm is proposed. In the classical icp algorithm, the main part which limit the efficiency of the algorithm is the iterative search process of the corresponding point, the new algorithm proposed in this paper uses the 4-point coincidence algorithm to accelerate the corresponding point search process as an improvement to the classical icp algorithm, and to verify its improvement by experiment.

关键词： Point cloud data Point cloud registration icp algorithm 4-point consistent algorithm

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