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Approximate Surface Reconstruction and Registration for RGBD SLAM
"... Abstract—RGBD cameras have attracted much attention in the fields of robotics and computer vision, especially for object modeling and environment mapping. A key problem in all these applications is the registration of sequences of RGBD images. In this paper, we present an efficient yet reliable ap ..."
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approach to align pairs and sequences of RGBD images that makes use of local surface information. We extend previous works on 3D mapping with micro aerial vehicles to sequences of RGBD images. The resulting alignment is based on a robust surfacetosurface error metric and uses multiple surfacetosurface
Surface reconstruction from unorganized points
 COMPUTER GRAPHICS (SIGGRAPH ’92 PROCEEDINGS)
, 1992
"... We describe and demonstrate an algorithm that takes as input an unorganized set of points fx1�:::�xng IR 3 on or near an unknown manifold M, and produces as output a simplicial surface that approximates M. Neither the topology, the presence of boundaries, nor the geometry of M are assumed to be know ..."
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Cited by 815 (8 self)
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We describe and demonstrate an algorithm that takes as input an unorganized set of points fx1�:::�xng IR 3 on or near an unknown manifold M, and produces as output a simplicial surface that approximates M. Neither the topology, the presence of boundaries, nor the geometry of M are assumed
Registration of NonUniform Density 3D Point Clouds using Approximate Surface Reconstruction
"... 3D laser scanners composed of a rotating 2D laser range scanner exhibit different point densities within and between individual scan lines. Such nonuniform point densities influence neighbor searches which in turn may negatively affect feature estimation and scan registration. To reliably register ..."
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Cited by 1 (1 self)
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such scans, we extend a stateoftheart registration algorithm to include topological information from approximate surface reconstructions. We show that our approach outperforms related approaches in both refining a good initial pose estimate and registering badly aligned point clouds if no such esti
Surface Reconstruction by Voronoi Filtering
 Discrete and Computational Geometry
, 1998
"... We give a simple combinatorial algorithm that computes a piecewiselinear approximation of a smooth surface from a finite set of sample points. The algorithm uses Voronoi vertices to remove triangles from the Delaunay triangulation. We prove the algorithm correct by showing that for densely sampled ..."
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Cited by 405 (11 self)
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We give a simple combinatorial algorithm that computes a piecewiselinear approximation of a smooth surface from a finite set of sample points. The algorithm uses Voronoi vertices to remove triangles from the Delaunay triangulation. We prove the algorithm correct by showing that for densely sampled
Reconstruction and Representation of 3D Objects with Radial Basis Functions
 Computer Graphics (SIGGRAPH ’01 Conf. Proc.), pages 67–76. ACM SIGGRAPH
, 2001
"... We use polyharmonic Radial Basis Functions (RBFs) to reconstruct smooth, manifold surfaces from pointcloud data and to repair incomplete meshes. An object's surface is defined implicitly as the zero set of an RBF fitted to the given surface data. Fast methods for fitting and evaluating RBFs al ..."
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Cited by 505 (1 self)
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We use polyharmonic Radial Basis Functions (RBFs) to reconstruct smooth, manifold surfaces from pointcloud data and to repair incomplete meshes. An object's surface is defined implicitly as the zero set of an RBF fitted to the given surface data. Fast methods for fitting and evaluating RBFs
Fast Range Image Segmentation and Smoothing using Approximate Surface Reconstruction and Region Growing
"... Abstract — Decomposing sensory measurements into relevant parts is a fundamental prerequisite for solving complex tasks, e.g., in the field of mobile manipulation in domestic environments. In this paper, we present a fast approach to surface reconstruction in range images by means of approximate pol ..."
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Cited by 10 (6 self)
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Abstract — Decomposing sensory measurements into relevant parts is a fundamental prerequisite for solving complex tasks, e.g., in the field of mobile manipulation in domestic environments. In this paper, we present a fast approach to surface reconstruction in range images by means of approximate
A New VoronoiBased Surface Reconstruction Algorithm
, 2002
"... We describe our experience with a new algorithm for the reconstruction of surfaces from unorganized sample points in R³. The algorithm is the first for this problem with provable guarantees. Given a “good sample” from a smooth surface, the output is guaranteed to be topologically correct and converg ..."
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Cited by 414 (9 self)
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We describe our experience with a new algorithm for the reconstruction of surfaces from unorganized sample points in R³. The algorithm is the first for this problem with provable guarantees. Given a “good sample” from a smooth surface, the output is guaranteed to be topologically correct
Surface Simplification Using Quadric Error Metrics
"... Many applications in computer graphics require complex, highly detailed models. However, the level of detail actually necessary may vary considerably. To control processing time, it is often desirable to use approximations in place of excessively detailed models. We have developed a surface simplifi ..."
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Cited by 1174 (16 self)
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Many applications in computer graphics require complex, highly detailed models. However, the level of detail actually necessary may vary considerably. To control processing time, it is often desirable to use approximations in place of excessively detailed models. We have developed a surface
Cortical surfacebased analysis. I. Segmentation and surface reconstruction
 Neuroimage
, 1999
"... Several properties of the cerebral cortex, including its columnar and laminar organization, as well as the topographic organization of cortical areas, can only be properly understood in the context of the intrinsic twodimensional structure of the cortical surface. In order to study such cortical pr ..."
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Cited by 450 (42 self)
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properties in humans, it is necessary to obtain an accurate and explicit representation of the cortical surface in individual subjects. Here we describe a set of automated procedures for obtaining accurate reconstructions of the cortical surface, which have been applied to data from more than 100 subjects
Iterative point matching for registration of freeform curves and surfaces
, 1994
"... A heuristic method has been developed for registering two sets of 3D curves obtained by using an edgebased stereo system, or two dense 3D maps obtained by using a correlationbased stereo system. Geometric matching in general is a difficult unsolved problem in computer vision. Fortunately, in ma ..."
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Cited by 660 (8 self)
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, in many practical applications, some a priori knowledge exists which considerably simplifies the problem. In visual navigation, for example, the motion between successive positions is usually approximately known. From this initial estimate, our algorithm computes observer motion with very good precision
Results 1  10
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