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Globally Optimal 2D-3D Registration from Points or Lines Without Correspondences

Brown, M, Windbridge, D and Guillemaut, J (2015) Globally Optimal 2D-3D Registration from Points or Lines Without Correspondences In: International Conference on Computer Vision (ICCV 2015), 2015-12-13 - 2015-12-16, Santiago, Chile.

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Abstract

We present a novel approach to 2D-3D registration from points or lines without correspondences. While there exist established solutions in the case where correspondences are known, there are many situations where it is not possible to reliably extract such correspondences across modalities, thus requiring the use of a correspondence-free registration algorithm. Existing correspondence-free methods rely on local search strategies and consequently have no guarantee of finding the optimal solution. In contrast, we present the first globally optimal approach to 2D-3D registration without correspondences, achieved by a Branch-and-Bound algorithm. Furthermore, a deterministic annealing procedure is proposed to speed up the nested branch-and-bound algorithm used. The theoretical and practical advantages this brings are demonstrated on a range of synthetic and real data where it is observed that the proposed approach is significantly more robust to high proportions of outliers compared to existing approaches.

Item Type: Conference or Workshop Item (Conference Paper)
Divisions : Faculty of Engineering and Physical Sciences > Electronic Engineering > Centre for Vision Speech and Signal Processing
Authors :
AuthorsEmailORCID
Brown, MUNSPECIFIEDUNSPECIFIED
Windbridge, DUNSPECIFIEDUNSPECIFIED
Guillemaut, JUNSPECIFIEDUNSPECIFIED
Date : 13 December 2015
Related URLs :
Additional Information : Paper accepted for presentation at International Conference on Computer Vision (ICCV 2015). © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Depositing User : Symplectic Elements
Date Deposited : 30 Oct 2015 11:45
Last Modified : 22 Dec 2015 10:14
URI: http://epubs.surrey.ac.uk/id/eprint/809116

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