Gianfranco Doretto / Research / Project
3D Object Modeling
Range data registration in the frequency domain
Description
In this project we study the problem of aligning 3D range data in the
frequency domain, and propose a technique that could be used for
unsupervised registration in 3D object modeling.
Three-dimensional models of rigid objects can be obtained in two ways:
from 2D imagery or from 3D range data. In the first case, the geometry
of the surface of the object is typically recovered by matching sets
of features extracted from images of the object taken from different
viewpoints. In the second case, the depth information is provided by a
range camera and the shape of the object is reconstructed by aligning
sets of range data containing partially overlapping patches of
surface.
While most of the registration techniques perform the alignment
iteratively in the space domain, if we consider the corresponding
problem in the frequency domain it is possible to decouple the
estimation of the rotation from the estimation of the
translation. This leads to an efficient algorithm that estimates
motion parameters in closed-form and that can be used for 3D object
modeling. The construction of accurate 3D models has several
applications such as industrial prototyping, medical data
visualization, cultural heritage preservation, etc.
The main contributions of our approach are:
- We pose the 3D alignment problem in the frequency domain where the estimation of the motion, that has six degrees of freedom, can be cut down to two estimation problems of three degrees of freedom.
- We provide a closed-form solution to the alignment problem that extends to 3D the previous 2D frequency domain alignment techniques.
- We discuss the implementation of the algorithm and give several practical provisions that significantly improve the robustness of the estimation.
- We extensively analyze the performance of the algorithm, and show that the estimation error remains within 3 degrees with probability of 90%.
- We use the algorithm in the 3D object modeling pipeline, and build several examples of 3D models.
Results
Examples of 3D models reconstructed from partial views.
Bas-relief by Donatello
15th century, altar of Saint Anthony's Church, Padua, Italy.
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Holy Virgin with Child by Giovanni Pisano
13th century, Arena's Chapel, Padua, Italy
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Apollo
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Medusa
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Turbine
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Vertebra
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Related publications
- Lucchese, L., Doretto, G., and Cortelazzo, G. M.
A frequency domain technique for range data registration. IEEE Transactions on Pattern Analysis and Machine Intelligence, 24(11):1468–1484, November 2002.
Details BibTeX PDF (3.3MB ) - Cortelazzo, G. M., Doretto, G., Lucchese, L., and Totaro, S.
Three dimensional view registration by a frequency domain technique. In Proceedings of the European Signal Processing Conference, pp. 1289–1292, Island of Rhodes, Greece, September 1998.
Details BibTeX PDF (555.2kB ) - Cortelazzo, G. M., Doretto, G., Lucchese, L., and Totaro, S.
A frequency domain method for registration of range data. In Proceedings of the IEEE International Symposium on Circuits and Systems, pp. 518–521, Monterey, CA, USA, May 31--June 3, 1998.
Details BibTeX PDF (468.7kB ) - Lucchese, L., Doretto, G., and Cortelazzo, G. M.
Frequency domain estimation of 3D rigid motion based on range and intensity data. In Proceedings of the International Conference on 3D Digital Imaging and Modeling, pp. 107–112, Ottawa, Ontario, Canada, May 1997.
Oral Presentation
Details BibTeX PDF (489.7kB )