2.1 Dynamic Registration
Solve for inter-frame motion:
Solve for inter-frame motion:
Given:
A set of frames {P0, P1, ... Pn}
Goal:
Recover rigid motion {a1, a2, ... an} between adjacent frames
tj tj+1 tj+2
t j
Tangential point movement velocity vectors orthogonal to surface normals
0 ) ( ).
(
~
~ij n pij p
v
Tangential point movement velocity vectors orthogonal to surface normals
(rigid) velocity vectors
(rigid) velocity vectors !
Plane fitting using PCA using chosen neighborhood points.
Update neighborhood with current velocity estimate.
Stable, but more expensive.
Perform local surface triangulation (tetrahedralization).
Stable, but more expensive.
ICP point-plane Dynamic registration
scan #1 : scan #50 scan #1 : scan
#100
scan #1 : scan #50 scan #1 : scan
#100
rigid components
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