On the representation of rigid body transformations for accurate registration of free-form shapes

Marcos A. Rodrigues, Yonghuai Liu

Research output: Contribution to journalArticlepeer-review

24 Citations (SciVal)

Abstract

In this paper we consider representation issues of rigid body transformations based on geometric properties of reflected correspondence vectors. A sufficient and necessary representation of rigid body transformations is put forward followed by an accurate and robust algorithm for the registration of free-form surfaces. The algorithm makes full use of global rigid motion constraints derived from the representation of rigid body transformations and can effectively deal with occlusion, noise, and appearance and disappearance of points. A comparative study based on both synthetic data and real images show that the registration method is accurate and robust
Original languageEnglish
Pages (from-to)37-52
JournalRobotics and Autonomous Systems
Volume39
Issue number1
Early online date15 Mar 2002
DOIs
Publication statusPublished - 30 Apr 2002

Keywords

  • rigid body transformation
  • rigid motion constraints
  • reflected correspondence
  • ICP algorithm
  • range image registration

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