Automatic range image registration in the Markov chain

IEEE Transactions on Pattern Analysis and Machine Intelligence
Yonghuai Liu

Abstract

In this paper, a novel entropy that can describe both long and short-tailed probability distributions of constituents of a thermodynamic system out of its thermodynamic limit is first derived from the Lyapunov function for a Markov chain. We then maximize this entropy for the estimation of the probabilities of possible correspondences established using the traditional closest point criterion between two overlapping range images. When we change our viewpoint to look carefully at the minimum solution to the probability estimate of the correspondences, the iterative range image registration process can also be modeled as a Markov chain in which lessons from past experience in estimating those probabilities are learned. To impose the two-way constraint, outliers are explicitly modeled due to the almost ubiquitous occurrence of occlusion, appearance, and disappearance of points in either image. The estimated probabilities of the correspondences are finally embedded into the powerful mean field annealing scheme for global optimization, leading the camera motion parameters to be estimated in the weighted least-squares sense. A comparative study using real images shows that the proposed algorithm usually outperforms the state-of-the-ar...Continue Reading

References

Nov 11, 2003·IEEE Transactions on Medical Imaging·Charles V StewartBadrinath Roysam
Sep 21, 2004·IEEE Transactions on Image Processing : a Publication of the IEEE Signal Processing Society·Marco AndreettoGuido Maria Cortelazzo
May 7, 2005·IEEE Transactions on Pattern Analysis and Machine Intelligence·Luciano SilvaKim L Boyer
Oct 26, 2005·Physical Review. E, Statistical, Nonlinear, and Soft Matter Physics·Alexander N GorbanHans Christian Ottinger
Mar 29, 2006·IEEE Transactions on Pattern Analysis and Machine Intelligence·Yefeng Zheng, David Doermann

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