Comparison On Matching Methods Used In Pose Tracking For 3D Shape Representation

摘要

In this work, three different algorithms such as Brute Force, Delaunay Triangulation and k-d Tree, are analyzed on matching comparison for 3D shape representation. It is intended for developing the pose tracking of moving objects in video surveillance. To determine 3D pose of moving objects, some tracking system may require full 3D pose estimation of arbitrarily shaped objects in real time. In order to perform 3D pose estimation in real time, each step in the tracking algorithm must be computationally efficient. This paper presents method comparison for the computationally efficient registration of 3D shapes including free-form surfaces. Matching of free-form surfaces are carried out by using geometric point matching algorithm (ICP). Several aspects of the ICP algorithm are investigated and analyzed by using specified surface setup. The surface setup processed in this system is represented by simple geometric primitive dealing with objects of free-from shape. Considered representations are a cloud of points.