Joint Pre-Alignment and Robust Rigid Point Set Registration

Vladislav Golyanik, Bertram Taetz, Didier Stricker

In: Proceedings of the International Conference on Image Processing |. IEEE International Conference on Image Processing (ICIP-16) September 25-29 Phoenix AZ United States IEEE Xplore 2016.


We present an elegant solution to joint pre-alignment and rigid point set registration, given prior matches. Instead of performing pre-alignment and the actual registration in the separate steps, prior matches explicitly influence the registration procedure in our approach. This results in several advantages. Firstly, our approach solves the pre-alignment task — an approximate resolving of rotation and translation — with an insufficient number of prior correspondences, when other methods fail. Secondly, it produces more accurate rigid registrations of noisy point sets than the state of the art Coherent Point Drift method. Combined with application specific methods for correspondence establishment, we demonstrate superiority of our approach in several synthetic and real-world scenarios.


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Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence