Rigid and articulated point registration with expectation conditional maximization
This paper addresses the issue of matching rigid and articulated shapes through probabilistic point registration. The problem is recast into a missing data framework where unknown correspondences are handled via mixture models. Adopting a maximum likelihood principle, we introduce an innovative EM-l...
| Veröffentlicht in: | IEEE transactions on pattern analysis and machine intelligence. - 1979. - 33(2011), 3 vom: 01. März, Seite 587-602 |
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| Weitere Verfasser: | , , , |
| Format: | Online-Aufsatz |
| Sprache: | English |
| Veröffentlicht: |
2011
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| Zugriff auf das übergeordnete Werk: | IEEE transactions on pattern analysis and machine intelligence |
| Schlagworte: | Journal Article |
| Zusammenfassung: | This paper addresses the issue of matching rigid and articulated shapes through probabilistic point registration. The problem is recast into a missing data framework where unknown correspondences are handled via mixture models. Adopting a maximum likelihood principle, we introduce an innovative EM-like algorithm, namely, the Expectation Conditional Maximization for Point Registration (ECMPR) algorithm. The algorithm allows the use of general covariance matrices for the mixture model components and improves over the isotropic covariance case. We analyze in detail the associated consequences in terms of estimation of the registration parameters, and propose an optimal method for estimating the rotational and translational parameters based on semidefinite positive relaxation. We extend rigid registration to articulated registration. Robustness is ensured by detecting and rejecting outliers through the addition of a uniform component to the Gaussian mixture model at hand. We provide an in-depth analysis of our method and compare it both theoretically and experimentally with other robust methods for point registration |
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| Beschreibung: | Date Completed 23.06.2011 Date Revised 21.04.2011 published: Print Citation Status MEDLINE |
| ISSN: | 1939-3539 |
| DOI: | 10.1109/TPAMI.2010.94 |