A Registration Method Based on Angular-Invariant Feature
This paper proposes an angular invariant feature for registration procedure to perform reliable matching between a given model shape and a data shape. The feature is defined by a k-dimensional vector with k angles between the normal vector of each point and its k-nearest-neighbors individually. The feature is invariant to scale transformation, rotation transformation. Particularly, when we register two surfaces with small curvatures, in that, nearly-flat meshes, it is difficult to reach the correct alignment because of fewer features in traditional ICP algorithm and its variants. However, the method presented here can discover the potential structural information hiding in nearly-flat surfaces and improve the convergence and error. We present that an angular augment coefficient should be set to avoid rounding error of computer. This new invariant feature makes defect detection of surfaces, such as airplane, faster and more robust.
Jun Jiang Jun Cheng Xinglin Chen
Department of Control Science and Engineering,School of Astronautics,Harbin Institute of Technology; Shenzhen Institute of Advanced Integration Technology,Chinese Academy of Sciences/The Chinese Univer Department of Control Science and Engineering,School of Astronautics,Harbin Institute of Technology
国际会议
深圳
英文
11-15
2008-12-10（万方平台首次上网日期，不代表论文的发表时间）