Physical Scale Keypoints: Matching and Registration for Combined Intensity/Range Images
Abstract We present a new framework for detecting, describing, and matching keypoints in combined range-intensity data, resulting in what we call physical scale keypoints. We first produce an image mesh by backprojecting associated 2D intensity images onto the 3D range data. We detect and describe k...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Smith, Eric R. [verfasserIn] |
|---|
| Format: |
Artikel |
|---|---|
| Sprache: |
Englisch |
| Erschienen: |
2011 |
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| Schlagwörter: |
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| Anmerkung: |
© Springer Science+Business Media, LLC 2011 |
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| Übergeordnetes Werk: |
Enthalten in: International journal of computer vision - Springer US, 1987, 97(2011), 1 vom: 11. Juni, Seite 2-17 |
|---|---|
| Übergeordnetes Werk: |
volume:97 ; year:2011 ; number:1 ; day:11 ; month:06 ; pages:2-17 |
| Links: |
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| DOI / URN: |
10.1007/s11263-011-0469-4 |
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OLC2057746224 |
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| 520 | |a Abstract We present a new framework for detecting, describing, and matching keypoints in combined range-intensity data, resulting in what we call physical scale keypoints. We first produce an image mesh by backprojecting associated 2D intensity images onto the 3D range data. We detect and describe keypoints on the image mesh using an analogue of the SIFT algorithm for images with two key modifications: the process is made insensitive to viewpoint and structural discontinuities using a novel bilinear filter, and a physical scale space is constructed that exploits the reliable range measurements. Keypoints are matched between scans only when their physical scales agree, avoiding many potential false matches. Finally, the matches are rank-ordered using a new quality measure and supplied to a registration algorithm that refines each match into a rigid transformation for the entire scan pair. We report experimental results on keypoint detection and matching and range scan registration and verification in a set of difficult real-world scan pairs, showing that the new physical scale keypoints are demonstrably better than a competing approach based on backprojected SIFT keypoints. | ||
| 650 | 4 | |a Range data | |
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| 700 | 1 | |a Stewart, Charles V. |4 aut | |
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10.1007/s11263-011-0469-4 doi (DE-627)OLC2057746224 (DE-He213)s11263-011-0469-4-p DE-627 ger DE-627 rakwb eng 004 VZ Smith, Eric R. verfasserin aut Physical Scale Keypoints: Matching and Registration for Combined Intensity/Range Images 2011 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media, LLC 2011 Abstract We present a new framework for detecting, describing, and matching keypoints in combined range-intensity data, resulting in what we call physical scale keypoints. We first produce an image mesh by backprojecting associated 2D intensity images onto the 3D range data. We detect and describe keypoints on the image mesh using an analogue of the SIFT algorithm for images with two key modifications: the process is made insensitive to viewpoint and structural discontinuities using a novel bilinear filter, and a physical scale space is constructed that exploits the reliable range measurements. Keypoints are matched between scans only when their physical scales agree, avoiding many potential false matches. Finally, the matches are rank-ordered using a new quality measure and supplied to a registration algorithm that refines each match into a rigid transformation for the entire scan pair. We report experimental results on keypoint detection and matching and range scan registration and verification in a set of difficult real-world scan pairs, showing that the new physical scale keypoints are demonstrably better than a competing approach based on backprojected SIFT keypoints. Range data Range registration SIFT Range/intensity images Bilateral filter Radke, Richard J. aut Stewart, Charles V. aut Enthalten in International journal of computer vision Springer US, 1987 97(2011), 1 vom: 11. Juni, Seite 2-17 (DE-627)129354252 (DE-600)155895-X (DE-576)018081428 0920-5691 nnns volume:97 year:2011 number:1 day:11 month:06 pages:2-17 https://doi.org/10.1007/s11263-011-0469-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_70 GBV_ILN_2004 GBV_ILN_2006 GBV_ILN_2012 GBV_ILN_2244 GBV_ILN_4046 GBV_ILN_4700 AR 97 2011 1 11 06 2-17 |
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10.1007/s11263-011-0469-4 doi (DE-627)OLC2057746224 (DE-He213)s11263-011-0469-4-p DE-627 ger DE-627 rakwb eng 004 VZ Smith, Eric R. verfasserin aut Physical Scale Keypoints: Matching and Registration for Combined Intensity/Range Images 2011 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media, LLC 2011 Abstract We present a new framework for detecting, describing, and matching keypoints in combined range-intensity data, resulting in what we call physical scale keypoints. We first produce an image mesh by backprojecting associated 2D intensity images onto the 3D range data. We detect and describe keypoints on the image mesh using an analogue of the SIFT algorithm for images with two key modifications: the process is made insensitive to viewpoint and structural discontinuities using a novel bilinear filter, and a physical scale space is constructed that exploits the reliable range measurements. Keypoints are matched between scans only when their physical scales agree, avoiding many potential false matches. Finally, the matches are rank-ordered using a new quality measure and supplied to a registration algorithm that refines each match into a rigid transformation for the entire scan pair. We report experimental results on keypoint detection and matching and range scan registration and verification in a set of difficult real-world scan pairs, showing that the new physical scale keypoints are demonstrably better than a competing approach based on backprojected SIFT keypoints. Range data Range registration SIFT Range/intensity images Bilateral filter Radke, Richard J. aut Stewart, Charles V. aut Enthalten in International journal of computer vision Springer US, 1987 97(2011), 1 vom: 11. Juni, Seite 2-17 (DE-627)129354252 (DE-600)155895-X (DE-576)018081428 0920-5691 nnns volume:97 year:2011 number:1 day:11 month:06 pages:2-17 https://doi.org/10.1007/s11263-011-0469-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_70 GBV_ILN_2004 GBV_ILN_2006 GBV_ILN_2012 GBV_ILN_2244 GBV_ILN_4046 GBV_ILN_4700 AR 97 2011 1 11 06 2-17 |
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10.1007/s11263-011-0469-4 doi (DE-627)OLC2057746224 (DE-He213)s11263-011-0469-4-p DE-627 ger DE-627 rakwb eng 004 VZ Smith, Eric R. verfasserin aut Physical Scale Keypoints: Matching and Registration for Combined Intensity/Range Images 2011 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media, LLC 2011 Abstract We present a new framework for detecting, describing, and matching keypoints in combined range-intensity data, resulting in what we call physical scale keypoints. We first produce an image mesh by backprojecting associated 2D intensity images onto the 3D range data. We detect and describe keypoints on the image mesh using an analogue of the SIFT algorithm for images with two key modifications: the process is made insensitive to viewpoint and structural discontinuities using a novel bilinear filter, and a physical scale space is constructed that exploits the reliable range measurements. Keypoints are matched between scans only when their physical scales agree, avoiding many potential false matches. Finally, the matches are rank-ordered using a new quality measure and supplied to a registration algorithm that refines each match into a rigid transformation for the entire scan pair. We report experimental results on keypoint detection and matching and range scan registration and verification in a set of difficult real-world scan pairs, showing that the new physical scale keypoints are demonstrably better than a competing approach based on backprojected SIFT keypoints. Range data Range registration SIFT Range/intensity images Bilateral filter Radke, Richard J. aut Stewart, Charles V. aut Enthalten in International journal of computer vision Springer US, 1987 97(2011), 1 vom: 11. Juni, Seite 2-17 (DE-627)129354252 (DE-600)155895-X (DE-576)018081428 0920-5691 nnns volume:97 year:2011 number:1 day:11 month:06 pages:2-17 https://doi.org/10.1007/s11263-011-0469-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_70 GBV_ILN_2004 GBV_ILN_2006 GBV_ILN_2012 GBV_ILN_2244 GBV_ILN_4046 GBV_ILN_4700 AR 97 2011 1 11 06 2-17 |
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10.1007/s11263-011-0469-4 doi (DE-627)OLC2057746224 (DE-He213)s11263-011-0469-4-p DE-627 ger DE-627 rakwb eng 004 VZ Smith, Eric R. verfasserin aut Physical Scale Keypoints: Matching and Registration for Combined Intensity/Range Images 2011 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media, LLC 2011 Abstract We present a new framework for detecting, describing, and matching keypoints in combined range-intensity data, resulting in what we call physical scale keypoints. We first produce an image mesh by backprojecting associated 2D intensity images onto the 3D range data. We detect and describe keypoints on the image mesh using an analogue of the SIFT algorithm for images with two key modifications: the process is made insensitive to viewpoint and structural discontinuities using a novel bilinear filter, and a physical scale space is constructed that exploits the reliable range measurements. Keypoints are matched between scans only when their physical scales agree, avoiding many potential false matches. Finally, the matches are rank-ordered using a new quality measure and supplied to a registration algorithm that refines each match into a rigid transformation for the entire scan pair. We report experimental results on keypoint detection and matching and range scan registration and verification in a set of difficult real-world scan pairs, showing that the new physical scale keypoints are demonstrably better than a competing approach based on backprojected SIFT keypoints. Range data Range registration SIFT Range/intensity images Bilateral filter Radke, Richard J. aut Stewart, Charles V. aut Enthalten in International journal of computer vision Springer US, 1987 97(2011), 1 vom: 11. Juni, Seite 2-17 (DE-627)129354252 (DE-600)155895-X (DE-576)018081428 0920-5691 nnns volume:97 year:2011 number:1 day:11 month:06 pages:2-17 https://doi.org/10.1007/s11263-011-0469-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_70 GBV_ILN_2004 GBV_ILN_2006 GBV_ILN_2012 GBV_ILN_2244 GBV_ILN_4046 GBV_ILN_4700 AR 97 2011 1 11 06 2-17 |
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10.1007/s11263-011-0469-4 doi (DE-627)OLC2057746224 (DE-He213)s11263-011-0469-4-p DE-627 ger DE-627 rakwb eng 004 VZ Smith, Eric R. verfasserin aut Physical Scale Keypoints: Matching and Registration for Combined Intensity/Range Images 2011 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media, LLC 2011 Abstract We present a new framework for detecting, describing, and matching keypoints in combined range-intensity data, resulting in what we call physical scale keypoints. We first produce an image mesh by backprojecting associated 2D intensity images onto the 3D range data. We detect and describe keypoints on the image mesh using an analogue of the SIFT algorithm for images with two key modifications: the process is made insensitive to viewpoint and structural discontinuities using a novel bilinear filter, and a physical scale space is constructed that exploits the reliable range measurements. Keypoints are matched between scans only when their physical scales agree, avoiding many potential false matches. Finally, the matches are rank-ordered using a new quality measure and supplied to a registration algorithm that refines each match into a rigid transformation for the entire scan pair. We report experimental results on keypoint detection and matching and range scan registration and verification in a set of difficult real-world scan pairs, showing that the new physical scale keypoints are demonstrably better than a competing approach based on backprojected SIFT keypoints. Range data Range registration SIFT Range/intensity images Bilateral filter Radke, Richard J. aut Stewart, Charles V. aut Enthalten in International journal of computer vision Springer US, 1987 97(2011), 1 vom: 11. Juni, Seite 2-17 (DE-627)129354252 (DE-600)155895-X (DE-576)018081428 0920-5691 nnns volume:97 year:2011 number:1 day:11 month:06 pages:2-17 https://doi.org/10.1007/s11263-011-0469-4 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_70 GBV_ILN_2004 GBV_ILN_2006 GBV_ILN_2012 GBV_ILN_2244 GBV_ILN_4046 GBV_ILN_4700 AR 97 2011 1 11 06 2-17 |
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Physical Scale Keypoints: Matching and Registration for Combined Intensity/Range Images |
| abstract |
Abstract We present a new framework for detecting, describing, and matching keypoints in combined range-intensity data, resulting in what we call physical scale keypoints. We first produce an image mesh by backprojecting associated 2D intensity images onto the 3D range data. We detect and describe keypoints on the image mesh using an analogue of the SIFT algorithm for images with two key modifications: the process is made insensitive to viewpoint and structural discontinuities using a novel bilinear filter, and a physical scale space is constructed that exploits the reliable range measurements. Keypoints are matched between scans only when their physical scales agree, avoiding many potential false matches. Finally, the matches are rank-ordered using a new quality measure and supplied to a registration algorithm that refines each match into a rigid transformation for the entire scan pair. We report experimental results on keypoint detection and matching and range scan registration and verification in a set of difficult real-world scan pairs, showing that the new physical scale keypoints are demonstrably better than a competing approach based on backprojected SIFT keypoints. © Springer Science+Business Media, LLC 2011 |
| abstractGer |
Abstract We present a new framework for detecting, describing, and matching keypoints in combined range-intensity data, resulting in what we call physical scale keypoints. We first produce an image mesh by backprojecting associated 2D intensity images onto the 3D range data. We detect and describe keypoints on the image mesh using an analogue of the SIFT algorithm for images with two key modifications: the process is made insensitive to viewpoint and structural discontinuities using a novel bilinear filter, and a physical scale space is constructed that exploits the reliable range measurements. Keypoints are matched between scans only when their physical scales agree, avoiding many potential false matches. Finally, the matches are rank-ordered using a new quality measure and supplied to a registration algorithm that refines each match into a rigid transformation for the entire scan pair. We report experimental results on keypoint detection and matching and range scan registration and verification in a set of difficult real-world scan pairs, showing that the new physical scale keypoints are demonstrably better than a competing approach based on backprojected SIFT keypoints. © Springer Science+Business Media, LLC 2011 |
| abstract_unstemmed |
Abstract We present a new framework for detecting, describing, and matching keypoints in combined range-intensity data, resulting in what we call physical scale keypoints. We first produce an image mesh by backprojecting associated 2D intensity images onto the 3D range data. We detect and describe keypoints on the image mesh using an analogue of the SIFT algorithm for images with two key modifications: the process is made insensitive to viewpoint and structural discontinuities using a novel bilinear filter, and a physical scale space is constructed that exploits the reliable range measurements. Keypoints are matched between scans only when their physical scales agree, avoiding many potential false matches. Finally, the matches are rank-ordered using a new quality measure and supplied to a registration algorithm that refines each match into a rigid transformation for the entire scan pair. We report experimental results on keypoint detection and matching and range scan registration and verification in a set of difficult real-world scan pairs, showing that the new physical scale keypoints are demonstrably better than a competing approach based on backprojected SIFT keypoints. © Springer Science+Business Media, LLC 2011 |
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| container_issue |
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| title_short |
Physical Scale Keypoints: Matching and Registration for Combined Intensity/Range Images |
| url |
https://doi.org/10.1007/s11263-011-0469-4 |
| remote_bool |
false |
| author2 |
Radke, Richard J. Stewart, Charles V. |
| author2Str |
Radke, Richard J. Stewart, Charles V. |
| ppnlink |
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| doi_str |
10.1007/s11263-011-0469-4 |
| up_date |
2024-07-03T16:08:33.051Z |
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1803574746077462528 |
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