Downloadable code and Examples
Planar patches from unstructured points cloud |
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Planar patches are a very compact and stable intermediate representation of 3D scenes, as they are a good starting point for a complete automatic reconstruction of surfaces. This algorithm extracts planar patches from an unstructured cloud of points that is produced by a typical structure and motion pipeline. The method integrates several constraints inside J-linkage and it makes use of information coming both from the 3D structure and the images. |
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Downloads: Video showing the planar patches extracted by the algorithm. |
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J-Linkage (Robust fitting of multiple models) |
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The method starts with random sampling, as in RANSAC. Then we consider the preference set of each point, i.e., the set of models that are satisfied by the point within a tolerance. The characteristic function of the PS of a point can be regarded as a conceptual representation of that point. Points belonging to the same structure will have similar PS, in other words, they will cluster in the conceptual space. The J-linkage algorithm is an agglomerative clustering that proceeds by linking elements with Jaccard distance smaller than 1 and stop as soon as there are no such elements left. |
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Update: speed and memory improvements. We developed a new incremental algorithm that works in real-time, thanks to several approximations that have been introduced to get around the quadratic complexity of the original algorithm. The same approximation can be used to deal with large datasets. |
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Downloads: Video showing planes extracted in real time with J-Linkage. The algorithm work integrated with the PTAM slam software. |
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Generalized Procrustes analysis ICP (Robust multiple view registration) |
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Novel approach to cope with the problem of global registration of multiple point clouds, where point correspondences and view order are unknown. The method iteratively minimizes a cost function considering all the views simultaneously. The proposed algorithm takes advantage of the well-known Generalized Procrustes Analysis, seamlessly embedding the mathematical theory in an Iterative Closest Point framework. |
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Downloads: |
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