Multimodal registration across 3D point clouds and CT-volumes

Automatic registration of overlapping 3D point clouds using closest points

While the SoftAssign algorithm imposes a two-way constraint embedded into the deterministic annealing scheme and the EMICP algorithm imposes a one-way constraint, they represent the state of the art technique for the automatic registration of overlapping free form shapes. They both have a time complexity of O(n). While the former has a space complexity also of O(n), the latter has a space compl...

Feature-based Quality Evaluation of 3d Point Clouds – Study of the Performance of 3d Registration Algorithms

The production of realistic 3D map databases is continuously growing. We studied an approach of 3D mapping database producing based on the fusion of heterogeneous 3D data. In this term, a rigid registration process was performed. Before starting the modeling process, we need to validate the quality of the registration results, and this is one of the most difficult and open research problems. In...

Towards Optimal 3D Point Clouds

Motivated by the increasing need of rapid characterisation of environments in 3D, the authors have designed a robot system that automates the work of an operator of terrestrial laser scanners. The built system makes it possible to work without markers or targets, saving surveyors more than 75% of the time spent in the field. Another impulse for developing the platform was the demand for a remot...

3D-2D registration of histological images with micro CT volumes using Chamfer Matching and simulated annealing

Fine registration of 3D point clouds fusing structural and photometric information using an RGB-D camera

We address the problem of accurate and efficient alignment of 3D point clouds captured by an RGB-D (Kinect-style) camera from different viewpoints. While the Iterative Closest Point (ICP) algorithm has been widely used for dense point cloud matching, it is limited in its ability to produce accurate results in challenging scenarios involving objects that lack structural features and have signifi...