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IEEE International Conference on Consumer Electronics (ICCE)

作者： Dong Won Kim Dong Won Kim Kyung Pyo Jun Kyung Pyo Jun Geun Teak Ryu Geun Teak Ryu Hyeon Deok Bae Hyeon Deok Bae Intelligent Network Department Electronics and Telecommunications Research Institute Taejon South Korea Department of Electronics Engineering Chungbuk National University Chungbuk South Korea

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A computer-assisted range image registration system for nuclear waste cleanup

A computer-assisted range image registration system for nucl...

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IEEE Instrumentation and Measurement Technology Conference

作者： E. Gagnon J.-F. Rivest M. Greenspan N. Burtnyk Department of Electrical Engineering University of Ottawa Ottawa ONT Canada Institute for Information Technology National Research Council Canada Ottawa ONT Canada

Building a 3D computer-based representation of a large or complex scene from a set of range images requires assembling the range images so that they are spatially registered. This paper presents a technique for finding a homogeneous transformation between a pair of range images while making use of both range and intensity information obtained using a laser range scanner. A demonstrated application featuring this technique consists of building a 3D representation of a nuclear dumpsite, which then serves to help control a teleoperated nuclear waste remediation system.

关键词： Image registration Radioactive pollution Councils Information technology Layout Clouds Reflectivity Computer errors iterative closest point algorithm iterative algorithms

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Simultaneous registration of multiple range views for use in reverse engineering

Simultaneous registration of multiple range views for use in...

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International Conference on Pattern Recognition

作者： D.W. Eggert A.W. Fitzgibbon R.B. Fisher Department of Artificial Intelligence University of Edinburgh Edinburgh UK

When reverse engineering a CAD model, it is necessary to integrate information from several views of an object into a common reference frame. Given a rough initial alignment, further pose refinement here uses an improved version of the interactive closes point algorithm. Incremental adjustments are computed simultaneously for all data sets, resulting in a more globally optimal set of transformations. Also, thresholds for removing outlier correspondences are not needed, as the merging data sets are considered as a whole. Motion updates are computed through force-based optimization, using implied springs between data sets. Experiments indicate that even for very rough initial positionings, registration accuracy approaches 25% of the interpoint sampling resolution of the images.

关键词： Reverse engineering Surface fitting iterative closest point algorithm Artificial intelligence Electronic mail Merging Springs Image sampling Image resolution Manufacturing industries

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Registration and integration of multiple range images for 3-D model construction

Registration and integration of multiple range images for 3-...

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International Conference on Pattern Recognition

作者： T. Masuda K. Sakaue N. Yokoya Electro Technical Laboratory Tsukuba Ibaraki Japan Image Understanding Section Electro Technical Laboratory Tsukuba Ibaraki Japan Nara Institute of Science and Technology Ikoma Nara Japan

Registration and integration of measured data of real objects are becoming important in 3D modeling for computer graphics and computer-aided design. We propose a new algorithm of registration and integration of multiple range images for producing a geometric object surface model. The registration algorithm determines a set of rigid motion parameters that register a range image to a given mesh-based geometric model. The algorithm is an integration of the iterative closest point algorithm with the least median of squares estimator. After registration, points in the input range are classified into inliers and outliers according to registration errors between each data point and the model. The outliers are appended to the surface model to be used by registration with the following range images. The parts classified as inlier by at least one registration result is segmented out to be integrated. This process consisting of registration and integration is iterated until all views are integrated. We successfully experimented with the proposed method on real range image sequences taken by a rangefinder. The method does not need any preliminary processes.

关键词： Least squares approximation iterative closest point algorithm

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Registration of CAD-models to images by iterative inverse perspective matching

Registration of CAD-models to images by iterative inverse pe...

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International Conference on Pattern Recognition

作者： P. Wunsch G. Hirzinger German AeroSpace Research Establishment-DLR Institute for Robotics and System Dynamics Wessling Germany

A new algorithm for registering a 3D model to a single or a sequence of 2D images without a-priori knowledge of correspondences is presented. The algorithm is composed of two iterated steps: the first step determines correspondences between image features and model data, while the second one computes the 3D rigid body transformation that minimizes the displacement of the matched points. As camera images do not yield full 3D information, the key idea proposed is to exploit the inverse perspective, i.e. the projection ray determined by the focal point of the camera and an image feature point. The inverse perspective yields the constraints for both correspondence search and pose estimation in 3D space rather than in the image plane. This not only simplifies the motion parameter estimation but also reduces matching ambiguities due to occlusions. In addition, a robust M-estimation technique reduces the impact of false correspondences. Experimental results show that complex, 3D CAD-models can be registered efficiently and accurately to images, even if image features are incomplete, fragmented and noisy.

关键词： Cameras iterative closest point algorithm Shape Robustness Machine vision Sensor systems iterative algorithms Least squares methods Three dimensional displays Layout

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Multi-objects interpretation

Multi-objects interpretation

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International Conference on Pattern Recognition

作者： J.-P. Tarel Inst. Nat. de Recherche en Inf. et Autom. Le Chesnay France

We describe a general-purpose method for the accurate and robust interpretation of a data set of p-dimensional points by several deformable prototypes. This method is based on the fusion of two algorithms: a generalization of the iterative closest point (GICP) to different types of deformations for registration purposes, and a fuzzy clustering algorithm (FCM). Our method always converges monotonically to the nearest focal minimum of a mean-square distance metric, and experiments show that the convergence is fast during the first few iterations. Therefore, we propose a scheme for choosing the initial solution to converge to an "interesting" local minimum. The method presented is very generic and can be applied: (a) to shapes or objects in a p-dimensional space, (b) to many shape patterns such as polyhedra, quadrics, splines, (c) to many possible shape deformations such as rigid displacements, similitudes, affine and homographic transforms. Consequently, our method has important applications in registration with an ideal model prior to shape inspection, i.e. to interpret 2D or 3D sensed data obtained from calibrated or uncalibrated sensors. Experimental results illustrate some capabilities of our method.

关键词： Shape iterative closest point algorithm Clustering algorithms iterative algorithms iterative methods Pattern recognition Computer vision Deformable models Robustness Prototypes

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Extension of the ICP algorithm to non-rigid intensity-based registration of 3D volumes

Extension of the ICP algorithm to non-rigid intensity-based ...

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Workshop on Mathematical Methods in Biomedical Image Analysis

作者： J. Feldmar G. Malandain J. Declerck N. Ayache Projet EPIDAURE I.N.R.I.A. Sophia Antipolis Sophia-Antipolis France

Presents a new registration and gain correction algorithm for 3D medical images. It is intensity based. The basic idea is to represent the images by 4D points (x/sub j/, y/sub j/, z/sub j/, i/sub j/) and to define a global energy function based on this representation. For minimization, the authors propose a technique which does not require to compute the derivatives of this criterion with respect to the parameters. It can be understood as an extension of the iterative closest point algorithm (P. Besl and N. McKay, 1992; Z. Zhang, 1992) or as an application of the formalism proposed by L. Cohen (Use of auxiliary variables in computer vision problems. In Proceedings of the Fifth International Conference on Computer Vision (ICCV '95), Boston, June 1995). Two parameters allow one to have a coarse to fine strategy both for resolution and deformation. The authors' technique presents the advantage to minimize a well defined global criterion to deal with various classes of transformations (for example rigid, affine and volume spline), to be simple to implement and to be efficient in practice. Results on real brain and heart 3D images are presented to demonstrate the validity of the authors' approach.

关键词： iterative closest point algorithm Brain Biomedical imaging Image segmentation Spline Heart Fuses Mutual information Hospitals

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Genetic algorithms for free-form surface matching

Genetic algorithms for free-form surface matching

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International Conference on Pattern Recognition

作者： K. Brunnstrom A.J. Stoddart Department of Electronic and Electrical Engineering University of Surrey Guildford UK

The free-form surface matching problem is important in several practical applications, such as reverse engineering. An accurate, robust and fast solution is, therefore, of great significance. Recently genetic algorithms have attracted great interest for their ability to robustly solve hard optimization problems. In this work we investigate the performance of such an approach for finding the initial guess of the transformation, a translation and a rotation, between the object and the model surface. This is followed by a local gradient descent method, such as iterative closest point, to refine the estimate. Promising results are demonstrated on accurate real data.

关键词： Genetic algorithms Robustness Reverse engineering iterative closest point algorithm iterative algorithms Medical services Biomedical equipment Convergence Hamming distance Image sensors

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A fuzzy ICP algorithm for 3D free-form object recognition

A fuzzy ICP algorithm for 3D free-form object recognition

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International Conference on Pattern Recognition

作者： B. Krebs P. Sieverding B. Korn Institute for Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

We propose a new object matching algorithm which can separate overlapping objects and which is robust against erroneous data. The algorithm is based on the well-known iterative closest point (ICP) algorithm. However all published contributions to the ICP algorithm can not provide a proper segmentation of the input data. A fuzzy ICP algorithm can handle these problems by a fuzzy membership valuation at each iteration level. Furthermore, we introduce an evidence accumulation algorithm which allows a determination of the best match. In combination with search routines for the most common CAD models we provide powerful and efficient tools for CAD based object recognition systems.

关键词： iterative closest point algorithm Object recognition iterative algorithms Robustness Fuzzy sets Clustering algorithms Design automation Shape Robot control Cost accounting

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SEQUENTIAL EXTRACTION OF TRACE-METALS FROM SEDIMENTS .1. VALIDATION OF CR DETERMINATION IN THE EXTRACTS BY AAS

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FRESENIUS JOURNAL OF ANALYTICAL CHEMISTRY 1995年第2-3期351卷 197-203页

作者： SAHUQUILLO, A LOPEZSANCHEZ, JF RUBIO, R RAURET, G HATJE, V FDN UNIV RIO GRANDE OCEANOL GEOL LAB RIO GRANDE RS BRAZIL

With the aim of harmonizing the methodology associated with the trace metal partitioning in sediments, a group of European researchers proposed a three-step sequential extraction scheme using acetic acid, hydroxylamine hydrochloride and ammonium acetate as extracting agents. The metal content in each extract is mainly determined by AAS or ICP. In this paper, the validation of chromium determination in the extracts by AAS is described. The optimum instrumental conditions and the matrix effects of the different reagents used in the extraction scheme are studied for Cr(III) and Cr(VI) solutions by FAAS and ETAAS techniques. The effect of the concomitant species are also studied in the different extracts. The interfering effects are minimized by means of releaser agent for FAAS. The addition of 1% oxine is recommended for acetic acid and hydroxylamine extracts, whereas for step 3 the use of a releaser agent is not necessary. For ETAAS, the use of a calibration graph with pyrolytically-coated tubes gave satisfactory results. The procedure of analysis is applied to chromium partitioning in two sediments with certified total chromium content and to different sediments from Rio dos Sines of Brazil. From the results obtained it is recommended to measure chromium contents in steps 1 and 2 by ETAAS and the content of step 3 by FAAS.

关键词： Deposits metal partition Trace metal iterative closest point algorithm metal content ammonium acetate Inductively coupled plasma Hydroxylamine Hydrochloride sequential extraction Trace elements Atomic Absorption Spectrophotometry Extracts

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