发明名称 |
Method and program for registration of three-dimensional shape |
摘要 |
As a feature, a local range image described in a log-polar coordinate system with a tangential plane set as an image plane is used. In a created image, ambiguity concerning an angular axis around the normal is normalized as a power spectrum using Fourier series expansion and changed to an amount invariable with respect to rotation. The power spectrum is dimensionally compressed by expanding the power spectrum in a peculiar space using a peculiar vector. Corresponding points are searched by nearest neighbor in a dimensionally compressed space to calculate a correspondence relation among the points. Wrong correspondence is removed by verification to determine a positional relation among range images. A reliable correspondence relation is narrowed down by verification by cross-correlation and a RANSAC to create a tree structure representing a link relation among the range images. A shape mode is created by applying a simultaneous registration method to plural range images of the tree structure using a result of this registration as an initial value. |
申请公布号 |
US8233742(B2) |
申请公布日期 |
2012.07.31 |
申请号 |
US20060921572 |
申请日期 |
2006.05.10 |
申请人 |
MASUDA TAKESHI;NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCEAND TECHNOLOGY |
发明人 |
MASUDA TAKESHI |
分类号 |
G06K9/36;G06K9/32;G06T7/00;G06T15/00 |
主分类号 |
G06K9/36 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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