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Proceedings Paper

Estimation of motion parameters from sparse range data using surface interpolation
Author(s): Subhasis Chaudhuri; Shankar Chatterjee
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Paper Abstract

A smooth and rigid curved surface patch is undergoing 3-D rotational, as well as translational motion. Given two sets of sparse measurements of depth values on the surface at arbitrary points on the image plane at times t = ti and t2, we are required to estimate the corresponding affine transformation. It may be noted that there may not be any direct point correspondence between two such data sets as the range. finder may scan the surface at different locations at two different time instants. In order to solve the problem, we reconstruct a globally smooth surface from scattered data set at time t = t2 and determine the motion parameters by matching the data set at t = t1 on the reconstructed surface. We present a fast algorithm for a globally smooth interpolation of a visual surface from scattered range data. This method is based on matching lower order spatial moments, where the reconstructed surface is given by a linear combination of Legendre polynomials. A stochastic optimization scheme is used as the estimates of the motion parameters are iteratively updated until the data set at t = 1 best matches the shape of the surface at time t2.

Paper Details

Date Published: 1 August 1990
PDF: 10 pages
Proc. SPIE 1251, Curves and Surfaces in Computer Vision and Graphics, (1 August 1990); doi: 10.1117/12.19731
Show Author Affiliations
Subhasis Chaudhuri, Univ. of California/San Diego (United States)
Shankar Chatterjee, Univ. of California/San Diego (United States)

Published in SPIE Proceedings Vol. 1251:
Curves and Surfaces in Computer Vision and Graphics
Leonard A. Ferrari; Rui J. P. de Figueiredo, Editor(s)

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