CORRELATION ICP ALGORITHM FOR POSE ESTIMATION BASED ON LOCAL AND GLOBAL FEATURES

Marco A. Chavarria, Gerald Sommer

Abstract

In this paper we present a new variant of ICP (iterative closest point) algorithm based on local feature correlation. Our approach combines global and local feature information to find better correspondence sets and to use them to compute the 3D pose of the object model even for the case of large displacements between model and image data. For such cases, we propose a 2D alignment in the image plane (rotation plus translation) before the feature extraction process. This has some advantages over the classical methods like better convergence and robustness. Furthermore, it avoids the need of a normal pre-alignment step in 3D. Our approach was tested on synthetical and real-world data to compare the convergence behavior and performance against other versions of the ICP algorithm combined with a classical pre-alignment approach.

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Paper Citation


in Harvard Style

A. Chavarria M. and Sommer G. (2008). CORRELATION ICP ALGORITHM FOR POSE ESTIMATION BASED ON LOCAL AND GLOBAL FEATURES . In Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008) ISBN 978-989-8111-21-0, pages 528-534. DOI: 10.5220/0001079305280534


in Bibtex Style

@conference{visapp08,
author={Marco A. Chavarria and Gerald Sommer},
title={CORRELATION ICP ALGORITHM FOR POSE ESTIMATION BASED ON LOCAL AND GLOBAL FEATURES},
booktitle={Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)},
year={2008},
pages={528-534},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001079305280534},
isbn={978-989-8111-21-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)
TI - CORRELATION ICP ALGORITHM FOR POSE ESTIMATION BASED ON LOCAL AND GLOBAL FEATURES
SN - 978-989-8111-21-0
AU - A. Chavarria M.
AU - Sommer G.
PY - 2008
SP - 528
EP - 534
DO - 10.5220/0001079305280534