3D Shape Registration with Estimating Illumination and Photometric Properties of a Convex Object

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F07%3A03134559" target="_blank" >RIV/68407700:21230/07:03134559 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

3D Shape Registration with Estimating Illumination and Photometric Properties of a Convex Object

Popis výsledku v původním jazyce

To build a full 3D model of a physical object, multiple partially overlapping parts of an object model need to be merged. Since modern range finder devices provide color information in addition to the depth information, the color can be used to help theregistration process as well as to qualitatively improve the reconstructed model by incorporating radiometric properties of its surface to the model description. We propose a novel method for a convex Lambertian object which enables us to perform 3D registration and, at the same time, to estimate radiometric properties of the object. This is achieved in an iterative manner by extending the Iterative Closest Point (ICP) algorithm by adding steps recovering incident illumination and surface albedo. The iterative process is repeated until convergence similarly as in the traditional ICP algorithm. The use of albedo in shape registration improves convergence of the ICP algorithm and reduces ambiguities caused by rotationally symmetric object

Název v anglickém jazyce

3D Shape Registration with Estimating Illumination and Photometric Properties of a Convex Object

Popis výsledku anglicky

To build a full 3D model of a physical object, multiple partially overlapping parts of an object model need to be merged. Since modern range finder devices provide color information in addition to the depth information, the color can be used to help theregistration process as well as to qualitatively improve the reconstructed model by incorporating radiometric properties of its surface to the model description. We propose a novel method for a convex Lambertian object which enables us to perform 3D registration and, at the same time, to estimate radiometric properties of the object. This is achieved in an iterative manner by extending the Iterative Closest Point (ICP) algorithm by adding steps recovering incident illumination and surface albedo. The iterative process is repeated until convergence similarly as in the traditional ICP algorithm. The use of albedo in shape registration improves convergence of the ICP algorithm and reduces ambiguities caused by rotationally symmetric object

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

<a href="/cs/project/1M0567" target="_blank" >1M0567: Centrum aplikované kybernetiky</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2007

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

CVWW 2007: Proceedings of the 12th Computer Vision Winter Workshop

ISBN

978-3-902465-60-3

ISSN

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e-ISSN

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Počet stran výsledku

7

Strana od-do

43-49

Název nakladatele

Verlag der Technischen Universität Graz

Místo vydání

Graz

Místo konání akce

St. Lambrecht

Datum konání akce

6. 2. 2007

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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