Matching of 3-d Curves Using Semi-diierential Invariants Matching of 3-d Curves Using Semi-diierential Invariants

Reference 1] Tomm a s Pajdla and Luc Van Gool. Matching of 3-D curves using semi-diierential invariants. Abstract A method for matching 3-D curves under Euclidean motions is presented. Our approach uses a semi-diierential invariant description requiring only rst derivatives and one reference point, thus avoiding the computation of high order derivatives. A novel curve similarity measure building on the notion of-reciprocal correspondence is proposed. It is shown that by combining-reciprocal correspondence with the robust Least Median of Squares motion estimation, the registration of partially occluded curves can be accomplished. An experiment with real curves extracted from 3-D surfaces demonstrates that curve matching can be successfully performed even on data from a simple and cheap 3-D sensor.