Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple

Range Images

Object Modelling by
Registration of Multiple
Range Images
[Yang Chen and Grard Medioni, 1991]

Jirapong Manit
Institute for Robotics and Cognitive Systems
University of Lbeck

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Outline
Introduction
Range Image Registration
Choosing the Evaluation Function
Line-Surface Intersection
Registration Algorithm

Integration of Multiple Range Images

Results and Discussion
Conclusion

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Introduction
Model of physical object is necessary component machine of
biological vision modules.
CAD models are hardly accessed in practices.
Object from multiple views was proposed, but not always
enough.

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Introduction
Object Modelling Procedures
1. Data acquisition
2. Registration between views
3. Integration of views

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Introduction

http://carloshernandez.org/research.html

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Introduction
Correspondence problem

Transformation
http://carloshernandez.org/research.html

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Introduction

The range images of a Mozart bust

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Range Image Registration

Point cloud registration

http://blogs.rediff.com/alafearrea1983/2015/04/13/download-point-cloud-registration/

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Range Image Registration

Rigid transformation

or

where and
and are correspondence mapping functions

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Range Image Registration

Transformation Matrix

Consist of 6 DOF:

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Range Image Registration

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Choosing the Evaluation Function

Minimise : correspondence points

Where and ,

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Choosing the Evaluation Function

Minimise : approximate points

*Approximate
would be easier

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Choosing the Evaluation Function

Minimise : distance between surfaces, Potmesil [2]

is intersection point of line with surface

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Choosing the Evaluation Function

Minimise
: approximate using tangent plane

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Choosing the Evaluation Function

Minimise
: approximate using tangent plane

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Choosing the Evaluation Function

Distance
measures between and illustrated in the

2D case

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Choosing the Evaluation Function

Minimise:

Distance
measures between and illustrated in the

2D case

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Line-Surface Intersection
z

Initial:

Normal Vector Line

Orthogonal
Projections

Control Point

(start point)

Let be a point on
is a line normal to at
Projecting orthographically
along -axis
Set and

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Line-Surface Intersection
z

True Intersection

Each iteration :

Tangents

Normal Vector Line

Approximate
Intersection

(start point)

Compute

Find intersection of
with tangent plane to
at

Orthogonal
Projections

Control Point

The
process stop when
,

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

The Registration Algorithm

Rewrite:

is the tangent plane to at

Approximating very small value of in , the lease square algorithm

can be converted to linear problem.

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

The Registration Algorithm

1. Select a set of and compute the surface normal at those points. Let

=
2.

At each iteration
a) For each control point
Apply to and to get and
Find the intersection of surface

Compute the tangent plane of at

b) Find the transformation that minimises with least square

method,
let

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

The Registration Algorithm

The convergence of the procedure is tested by checking

where

is a threshold set via experiment

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Test Cases With Range Image

Registration
1st Example
Histogram of the error image

= 0.046, s = 0.6523, min = -39.3,

max = 20.2 (in mm)

Actual angle:
-15.00 degree
Detected angle: -15.06 degree

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Test Cases With Range Image

Registration
2nd Example
Histogram of the error image

= 0.0115, s = 0.3219, min = -7.63,

max = 9.741 (in mm)

Actual angle:
-20.00 degree
Detected angle: -19.75 degree

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Outline

Introduction
Range Image Registration
Integration of Multiple Range Images
Results and Discussion
Conclusion

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Integration of Multiple Range Images

Multiple range images from different vantage points are
needed
Surface is not completely covered by using turn table.

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Integration of Multiple Range Images

Modelling process:
1. Take 4 8 side view range images from different poses on a turn
table
2. Take images on each top and bottom views
3. Estimate rotation angles of top and bottom views images

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Object Centred Representation

Original range image

Cylindrical
or
Spherical coordinate
Select coordinate frame

Transformation
from
Registration
Process

Merged Data

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Global Registration
Register an image with the merged data.
Possible error accumulation can be avoided

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Outline

Introduction
Range Image Registration
Integration of Multiple Range Images
Results and Discussion
Conclusion

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Results and Discussion

Intensit
y
Rendered

Wire
frame

The wood blob, the plaster tooth and the derived

models for them

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Conclusion
A new surface model constructing method, based on
registering range images from multiple views.
Image registration is achieved by minimising a distance
measure function.
The representation scheme may not be powerful enough to
directly accommodate more complex object.

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

References
1. Chen, Y.; Medioni, G., "Object modeling by registration of multiple range
images," Robotics and Automation, 1991. Proceedings., 1991 IEEE
International Conference on , vol., no., pp.2724,2729 vol.3, 9-11 Apr 1991
2. Michael Potmesil, Generating Models for Solid Objects by Matching 3D
surface Segments. In Proceedings of the International Joint Conference on
Artificial Intelligence, page 1089-1093, Karlsuche, West Germany, August
1983

Institut fr Robotik und Kognitive Systeme | Jirapong Manit

Chen Y. and Medioni G., Object Modeling by Registration of Multiple
Range Images

Thank
you