PRE-ALIGNED ICP FOR THE RECONSTRUCTION OF COMPLEX OBJECTS

This papertacklesthe problemof registeringtwo cloudsof pointswith large non-overlappingpartsandgeneral startingpose.Drivenby anunderwaterapplication,objectscomposedby pipesareconsidered.In particular, this paperproposesa preprocessingmethoddevotedto a coarsealignmentof rangeimages,prior the applicationof theIterative ClosestPoint(ICP) algorithm. Thepre-alignmentis basedon thematchingbetweenthebranchesof three-dimensional skeletonsextractedfrom thetwo images.Wedemonstrates that3D skeletonscanbesuccessfully usedto obtaina coarsealignmentsufficient to make ICP converge. Moreover, the final ICP is fed only with the matchingsub-setsof thetwo images,therebyalleviatingtheoutliersconditioning.However, ICPis enhancedusing theX84 outliersrejectionrule,whichmakesit morerobust.Thereconstructionis completedwith thefusionof the two imagesbasedon theHoppe-DeRosetriangulation.Preliminaryresultsaresatisfactory, sincethe ICP always convergesto theglobalminimum,providedthattheskeletonsarecorrectlymatched.

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