[Insight-developers] ICP references

[Stephen R. Aylward]

I've placed a copy of the Chamfer-matching paper at

http://caddlab.rad.unc.edu/Public/borgefors88fix.pdf

Stephen

Stephen R. Aylward wrote:

> Hi,
> 
> I think most of ICP is trumped by the work published in
> G. Borgefors, "Hierarchical Chamfer Matching: A parametric edge matching 
> algorithm" IEEE PAMI 10(6):849-865 1988
> 
> It provides instances of point-point matching under a euclidean distance 
> metric where the points are from two images, from an image and a model 
> (map), and between two models.   It talks about computing a euclidean 
> distance image to speed the registration of two sets of points - this is 
> ICP.
> 
> For this work - the points are from edges, but surfaces are edges in 3D 
> - "someone skilled in the art" could come up with this extension to 3D...
> 
> So - based on this, I think we can distribute Julien's examples in the 
> traditional Insight/Examples/Registration directory.  In particular, his 
> ICP3.cxx is the distance-image approach discussed in this paper and even 
> prior works.  We should call those examples instances of Chamfer 
> matching - I now believe that is what they are.  Could even reference 
> this paper in the comments and note the similarity with ICP.
> 
> Stephen
> 
> Miller, James V (Research) wrote:
> 
>> Several research groups proposed ICP-like algorithms in 1992 (when the 
>> ICP patent was filed).  A list of ICP papers is below.
>>  
>> I think the ones to study are the Chen and Medioni paper since it was 
>> also published in 1992. We'd have to check the month of that 
>> publication to the filing date of the ICP patent.
>>  
>> Also, the Champleboux 1992 paper and the Szeliski 1996 draw a 
>> relationship between ICP and chamfer matching. So we might want to 
>> look for prior art in chamfer matching.
>>  
>>  
>>
>> P. Besl and N. McKay. A method for registration of 3-d shapes. IEEE 
>> Transactions on Pattern Analysis and Machine Intelligence, 
>> 14(2):239-256, 1992.
>>
>> Y. Chen and G. Medioni. Object modeling by registration of multiple 
>> range images. Image and Vision Computing, 10(3):145-155, 1992.
>>
>> M. Levoy, K. Pulli, B. Curless, S. Rusinkiewicz, S. Anderson, J. 
>> Davis, J. Ginsberg, J. Shade, and D. Fulk. The Digital Michelango 
>> Project: 3d scanning of large statues. In Computer Graphics 
>> Proceedings (SIGGRAPH), pages 131-144, New Orleans, July 2000.
>>
>> G. Champleboux, S. Lavallee, R. Szeliski, and L. Brunie. From accurate 
>> range imaging sensor calibration to accurate model-based 3-d object 
>> localization. In Proceedings of the IEEE Conference on Computer Vision 
>> and Pattern Recognition, pages 83-89, 1992.
>>
>> R. Szeliski and S. Lavallee. Matching 3-d anatomical surfaces with 
>> nonrigid deformations using octree-splines. International Journal of 
>> Computer Vision, 18(2):171-186, 1996.
>>
>> X. Pennec, N. Ayache, and J.-P. Thirion. Landmark-based registration 
>> using features identified through differential geometry. In I. N. 
>> Bank, editor, Handbook of Medical Imaging: Processing and Analysis, 
>> pages 499-513. Academic Press, 2000.
>>
>> **
>> **
>> *Jim Miller*
>> */_____________________________________/*
>> /Visualization & Computer Vision//
>> /GE Research/
>> /Bldg. KW, Room C218B/
>> /P.O. Box 8, Schenectady NY 12301/
>>
>> //_millerjv at research.ge.com <mailto:millerjv at research.ge.com>_/
>>
>> /_james.miller at research.ge.com_/
>> /(518) 387-4005, Dial Comm: 8*833-4005, /
>> /Cell: (518) 505-7065, Fax: (518) 387-6981/
>>
>>  
>>
>>
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>>
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> 
> 

-- 
===========================================================
Dr. Stephen R. Aylward
Associate Professor of Radiology
Adjunct Associate Professor of Computer Science and Surgery
http://caddlab.rad.unc.edu
aylward at unc.edu
(919) 966-9695