Xiaoguang Wang, Yong-Qing Cheng, Robert Collins, and Allen Hanson,
"Determining Correspondences and Rigid Motion of 3-D Point Sets
with Missing Data,"
IEEE Computer Vision and Pattern Recognition,
San Francisco, CA, June 18-20. 1996, pp. 252-257.
This paper addresses the general 3D rigid motion problem, where
the point correspondence and the motion parameters between two
sets of 3D points are to be recovered. The existence of missing
points in the two sets is the most difficult problem. We first
show a mathematical symmetry in the solutions of rotation parameters
and point correspondences. A closed-form solution based on the
correlation matrix eigenstructure decomposition is proposed for
correspondence recovery with no missing points. Using a heuristic
measure of point pair affinity derived from the eigenstructure, a
weighted bipartite matching algorithm is developed to determine
the correspondences in general cases where missing points occur.
The use of the affinity heuristic also leads to a fast outlier
removal algorithm, which can be run iteratively to refine the
correspondence recovery. Simulation results and experiments on
real images are shown in both ideal and general cases.
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