Fast alignment of 3D geometrical models and 2D color images using 2D distance maps

Yumi Iwashita; Ryo Kurazume; Tsutomu Hasegawa; Kenji Hara

doi:10.1109/3DIM.2005.39

Fast alignment of 3D geometrical models and 2D color images using 2D distance maps

Yumi Iwashita, Ryo Kurazume, Tsutomu Hasegawa, Kenji Hara

Real world robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

14 Citations (Scopus)

Abstract

This paper presents a fast pose estimation algorithm of a 3D free form object in 2D images using 2D distance maps. One of the popular techniques of the pose estimation of 3D object in 2D image is the point-based method such as the ICP algorithm. However, the calculation cost for determining point correspondences is expensive. To overcome this problem, the proposed method utilizes a distance map on the 2D image plane, which is constructed quite rapidly by the fast marching method. For pose estimation of the object, contour lines of the 2D image and the projection of the 3D object are aligned using the distance map iteratively by the robust m-estimator. Some experimental results with simulated models and actual images of the endoscopic operation are successfully carried out.

Original language	English
Title of host publication	Proceedings - 5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005
Pages	164-171
Number of pages	8
DOIs	https://doi.org/10.1109/3DIM.2005.39
Publication status	Published - 2005
Event	5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005 - Ottawa, ON, Canada Duration: Jun 13 2005 → Jun 16 2005

Publication series

Name	Proceedings of International Conference on 3-D Digital Imaging and Modeling, 3DIM
ISSN (Print)	1550-6185

Other

Other	5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005
Country/Territory	Canada
City	Ottawa, ON
Period	6/13/05 → 6/16/05

All Science Journal Classification (ASJC) codes

Computer Graphics and Computer-Aided Design
Computer Science Applications
Computer Vision and Pattern Recognition

Access to Document

10.1109/3DIM.2005.39

Cite this

Iwashita, Y., Kurazume, R., Hasegawa, T., & Hara, K. (2005). Fast alignment of 3D geometrical models and 2D color images using 2D distance maps. In Proceedings - 5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005 (pp. 164-171). Article 1443242 (Proceedings of International Conference on 3-D Digital Imaging and Modeling, 3DIM). https://doi.org/10.1109/3DIM.2005.39

Fast alignment of 3D geometrical models and 2D color images using 2D distance maps. / Iwashita, Yumi; Kurazume, Ryo; Hasegawa, Tsutomu et al.
Proceedings - 5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005. 2005. p. 164-171 1443242 (Proceedings of International Conference on 3-D Digital Imaging and Modeling, 3DIM).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Iwashita, Y, Kurazume, R, Hasegawa, T & Hara, K 2005, Fast alignment of 3D geometrical models and 2D color images using 2D distance maps. in Proceedings - 5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005., 1443242, Proceedings of International Conference on 3-D Digital Imaging and Modeling, 3DIM, pp. 164-171, 5th International Conference on 3-D Digital Imaging and Modeling, 3DIM 2005, Ottawa, ON, Canada, 6/13/05. https://doi.org/10.1109/3DIM.2005.39

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Fast alignment of 3D geometrical models and 2D color images using 2D distance maps

Abstract

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