| Presentation | 2004/9/3 Fast and High-precision 3-D Registration Algorithm using Hierarchical M-ICP HARUHISA OKUDA, MANABU HASHIMOTO, YASUO KITAAKI, SHUN'ICHI KANEKO, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | This paper presents a novel fast and high-precision 3-D registration algorithm. The ICP (Iterative Closest Point) algorithm converges all the 3-D data points of two data sets to the best matching points with minimum evaluation values. This algorithm is broadly used, because it has good availability to many applications. But, it needs many computational costs and it is very sensible to error values. We had proposed the M-ICP algorithm, which is an extension of the ICP algorithm based on modified M-estimation for realization of robustness against outlying gross noise. The proposed algorithm is an extension of the M-ICP with hierarchical searching and selecting matching region approach. Some fundamental experiments utilizing real data of 3-D measurement show effectiveness of the proposed method. |
| Keyword(in Japanese) | (See Japanese page) |
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| Paper # | PRMU2004-54 |
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| Committee | PRMU |
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| Conference Date | 2004/9/3(1days) |
| Place (in Japanese) | (See Japanese page) |
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| Topics (in Japanese) | (See Japanese page) |
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| Registration To | Pattern Recognition and Media Understanding (PRMU) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Fast and High-precision 3-D Registration Algorithm using Hierarchical M-ICP |
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| 1st Author's Name | HARUHISA OKUDA |
| 1st Author's Affiliation | Advanced Technology R&D Center, Mitsubishi Electric Corporation() |
| 2nd Author's Name | MANABU HASHIMOTO |
| 2nd Author's Affiliation | Advanced Technology R&D Center, Mitsubishi Electric Corporation |
| 3rd Author's Name | YASUO KITAAKI |
| 3rd Author's Affiliation | Graduate School of Information Science & Technology, Hokkaido University |
| 4th Author's Name | SHUN'ICHI KANEKO |
| 4th Author's Affiliation | Graduate School of Information Science & Technology, Hokkaido University |
| Date | 2004/9/3 |
| Paper # | PRMU2004-54 |
| Volume (vol) | vol.104 |
| Number (no) | 290 |
| Page | pp.pp.- |
| #Pages | 8 |
| Date of Issue | |