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3D Scan Matching and Registration

Explore advanced methods for 3D geometric similarity, pose determination, and scan alignments in range image processing pipelines. Learn pairwise and global alignment techniques for accurate merge scans.

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3D Scan Matching and Registration

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  1. Szymon Rusinkiewicz Michael Kazhdan Benedict Brown Princeton University Johns Hopkins University Princeton University 3D Scan Matching and Registration ICCV 2005 Short Course

  2. Themes • Techniques involving (3D) geometric similarity • Determining pose, correspondences, or both • Context: 3D range image processing pipeline

  3. Steps 1. Initial alignment 2. Pairwise alignment 3. Global relaxation to spread out error 4. Merge scans Range Processing Pipeline [Pulli]

  4. Range Processing Pipeline Steps 1. Initial alignment 2. Pairwise alignment 3. Global relaxation to spread out error 4. Merge scans [Pulli]

  5. Range Processing Pipeline Steps 1. Initial alignment 2. Pairwise alignment 3. Global relaxation to spread out error 4. Merge scans [Pulli]

  6. Range Processing Pipeline Steps 1. Initial alignment 2. Pairwise alignment 3. Global relaxation to spread out error 4. Merge scans [Pulli]

  7. Range Processing Pipeline Steps 1. Initial alignment 2. Pairwise alignment 3. Global relaxation to spread out error 4. Merge scans [Pulli]

  8. Schedule • 3D Shape Matching – Michael KazhdanBreak • Rigid-body pairwise and global alignment – Szymon Rusinkiewicz • Non-rigid global alignment for large scans – Benedict Brown

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