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2.1 Dynamic Registration

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2.1 Dynamic Registration

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Solve for inter-frame motion:

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Solve for inter-frame motion:

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Given:

A set of frames {P0, P1, ... Pn}

Goal:

Recover rigid motion {a1, a2, ... an} between adjacent frames

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tj tj+1 tj+2

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t j

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Tangential point movement  velocity vectors orthogonal to surface normals

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0 ) ( ).

(

~

~ij n pij p

v

Tangential point movement  velocity vectors orthogonal to surface normals

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(rigid) velocity vectors 

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(rigid) velocity vectors !

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Plane fitting using PCA using chosen neighborhood points.

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Update neighborhood with current velocity estimate.

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Stable, but more expensive.

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Perform local surface triangulation (tetrahedralization).

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Stable, but more expensive.

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ICP point-plane Dynamic registration

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scan #1 : scan #50 scan #1 : scan

#100

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scan #1 : scan #50 scan #1 : scan

#100

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rigid components

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thank you

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