Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 23 for “"Iterative closest point"”.
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Matching optical coherence tomography fingerprint scans using an iterative closest point pipeline
… are explored. For each type an extractor and Iterative Closest Point (ICP) matcher is developed. ICP is modified to operate in a Cartesiantoroidal space. Each of these features are matched with ICP against another matcher, if one existed. The feature that has the highest Area Under the Curve …
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Stereo-based head pose tracking using Iterative Closest Point and normal flow constraint
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2002.
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Registration of Arbitrary 3D Point Cloud Using Statistical Head Model
… traditional 3D registration techniques (i.e. the Iterative Closest Point algorithm) and a given statistical head mesh model. During the process, missing information in the original head mesh can also be recovered based on the information contained in the statistical model. The project also seeks …
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Real-time 3D face localization and verification
… of the particle swarm optimization (PSO) and the iterative closest point (ICP) algorithm to accurately align a 3D face model to the measured depth data. With the face localized within the image, we can compare a database 3D face model to the depth image to verify the identity of the subject. We …
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A New Inspection Method Based on RGB-D Profiling
… using error minimization algorithms such as Iterative Closest Point and Normal Distributions Transform. Once the error between each consecutive scan is minimized, the scans are then converted into a global co-ordinate frame work to form a global map of all the added scans. The proposed …
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Navigation and manipulation for autonomous underwater dismantling of offshore structures
… attachment, and manipulation. First, the Iterative Closest Point method (ICP) is investigated as a means to correct position drift of an inertial navigation system, by using a previously obtained coarse map. Using real sonar data from a current decommissioning site in the Gulf of Mexico, …
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Shape from inconsistent silhouette: Reconstruction of objects in the presence of segmentation and camera calibration error
… error. This is accomplished by a modified Iterative Closest Point algorithm which minimizes the difference between an initial reconstruction and the input silhouettes. We characterize the degree of error that can be corrected with synthetic datasets with increasing error, and demonstrate …
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Navigation and manipulation for autonomous underwater dismantling of offshore structures
… attachment, and manipulation. First, the Iterative Closest Point method (ICP) is investigated as a means to correct position drift of an inertial navigation system, by using a previously obtained coarse map. Using real sonar data from a current decommissioning site in the Gulf of Mexico, …
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Combining Probabilistic Shape-from-Shading & Statistical Facial Shape Models
… results for synthetic and real images. The Iterative Closest Point algorithm is used to calculate the error di�fference between the groundtruth and recovered normals and surface heights. The results of experiments in this thesis have shown improvements in probabilistic shape-from-shading …
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Feature-based automatic registration of images with 2D and 3D models
… methods using geometric primitives like point, line segment and circle have been widely studied. This thesis proposes a number of novel registration methods based on elliptic features, which include a point matching algorithm based on local search method for ellipse correspondence search …
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Absolute localization of mobile robots in forest environments by correlating ground LiDAR to overhead imagery
… height above ground filters that separate ground points from vertical stem features. Identifications of stems from overhead imagery is achieved by calculating the centroids of tree crowns extracted using a watershed segmentation algorithm. Matching of the two stem maps is achieved by using a …
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Novel pharmacophore clustering methods for protein binding site comparison
… comparison and clustering methods based on the Iterative Closest Point (ICP) algorithm are proposed: a 3-dimensional ICP pharmacophore clustering method, and an N-dimensional ICP pharmacophore clustering method. These methods are complemented by a series of data pre-processing methods for input …
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Online 3D Reconstruction and Ground Segmentation using Drone based Long Baseline Stereo Vision System
… running time by controlling the density of point clouds. Presented work makes use of filtering methods and implementations in Point Cloud Library (PCL) and feature matching on graphics processing unit (GPU) using OpenCV with CUDA. Besides 3D reconstruction, the challenge in the project was …
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A high performance automatic face recognition system using 3D shape information
… Component Analysis(PCA) face correction, Iterative Closest Point algorithms(ICP) and the alignment using the symmetry of human face. All faces are aligned to a unified coordinate system from the original pose position even under expression variations. The position of the nose tip is also …
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Earthquakes in complex fault settings: Examples from the Oregon Cascades, Eastern California Shear Zone, and San Andreas fault
… to the M6 2004 Parkfield earthquake. I used an Iterative Closest Point algorithm to find the displacement between two lidar datasets acquired 13 years apart. I compared creep rates measured before the 2004 earthquake to creep rates calculated from my lidar displacement results and found that …
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3-D facial expression representation using statistical shape models
… surface registration method is proposed that iteratively deforms and matches the model to an unseen new facial surface. Two major stages are included in this method, namely, model building and model fitting. In the model building stage, a SSM is built by using a training data set with …
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Mathematical Advancements in Geometric Algebra for 3D Registration Problems
… LA methods. It then extends this approach to the Iterative Closest Point (ICP) algorithm, resulting in a new Geometric Algebra-based variant, ICP-GA, which adheres to the standard ICP methodology while solving the 3D registration problem with unknown correspondences. The ICP-GA variant provides …
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New algorithmic developments in maximum consensus robust fitting
… maximization also plays a key role in robust point set registration. A special case is the registration of deformable shapes. If the surfaces have the same intrinsic shapes, their deformations can be described accurately by a conformal model. The uniformization theorem allows the shapes to be …
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Mapping of complex marine environments using an unmanned surface craft
… submap decomposition. Localization from lidar point clouds is performed using octrees combined with Iterative Closest Point (ICP) matching, which provides constraints between submaps both within and across different mapping sessions. Submap positions are optimized via least squares optimization …
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Automatic pre-treatment validation in radiotherapy by computer aided 3D-2D image alignment
… on the Z-bnffer projection algorithm and the iterative closest point (ICP) algorithm. The novelty of the method proposed by the author is that: with the depth information of the projected features from the 3D model retained by the Z-bnffer method and the correspondence points found by ICP …
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