Multiview registration via graph diffusion of dual quaternions
Multiview registration via graph diffusion of dual quaternions
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DOI：
10.1109/cvpr.2011.5995565
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发表时间：
2011-06
期刊：
影响因子：
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通讯作者：
A. Torsello;E. Rodolà;A. Albarelli
中科院分区：
文献类型：
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作者：
A. Torsello;E. Rodolà;A. Albarelli
表面配准是三维物体重建的基本步骤。虽然有几种快速可靠的方法来对齐两个表面，但可用于对齐多个表面的工具相对有限。在本文中，我们提出了一种新的多视图配准算法，投影到一个共同的参考框架几个成对的路线。通过将运动表示为对偶四元数（与3D刚性变换组相关的代数结构）并且通过沿着相邻（即，成对可缩放的）视图。该方法允许一个完全通用的拓扑结构与成对的运动扩散。大量的实验表明，该方法比现有技术快几个数量级，并且对极端位置噪声和离群值更具鲁棒性。该方法的显著加速允许它与成对对齐交替使用，从而产生更平滑的能量分布，降低了陷入局部最小值的风险。
Surface registration is a fundamental step in the reconstruction of three-dimensional objects. While there are several fast and reliable methods to align two surfaces, the tools available to align multiple surfaces are relatively limited. In this paper we propose a novel multiview registration algorithm that projects several pairwise alignments onto a common reference frame. The projection is performed by representing the motions as dual quaternions, an algebraic structure that is related to the group of 3D rigid transformations, and by performing a diffusion along the graph of adjacent (i.e., pairwise alignable) views. The approach allows for a completely generic topology with which the pair-wise motions are diffused. An extensive set of experiments shows that the proposed approach is both orders of magnitude faster than the state of the art, and more robust to extreme positional noise and outliers. The dramatic speedup of the approach allows it to be alternated with pairwise alignment resulting in a smoother energy profile, reducing the risk of getting stuck at local minima.