3D Non-Rigid Tricubic Point Cloud Registration

Method

This is an implementation of the method described in the paper "Non-rigid point cloud registration using piece-wise tricubic polynomials as transformation model".

This method can be used to register two 3D point clouds which are related by a non-rigid transformation. In other words, when a 6DoF rigid-body transformation (rotation and translation) is insufficient to align the two point clouds, this method might be a suitable alternative.

Examples

The following shows the non-rigid registration of two mobile mapping LiDAR point clouds in an urban environment:

(The effect of registration can best be seen on the overhead lines)

The method is quite flexible. In this example, it was used to estimate a tree’s motion field between sunset (red) and sunrise (green):

Another example is the non-rigid registration of two mobile mapping LiDAR point clouds of a railway track (full video here):

Paper

The paper can be found here - it can be cited as:

@article{glira2023a, article-number = {5348}, author = {Glira, Philipp and Weidinger, Christoph and Otepka-Schremmer, Johannes and Ressl, Camillo and Pfeifer, Norbert and Haberler-Weber, Michaela}, doi = {10.3390/rs15225348}, issn = {2072-4292}, journal = {Remote Sensing}, number = {22}, title = {Nonrigid Point Cloud Registration Using Piecewise Tricubic Polynomials as Transformation Model}, url = {https://www.mdpi.com/2072-4292/15/22/5348}, volume = {15}, year = {2023} }

2D Prototype

A prototype implementation of this algorithm for 2D point clouds written in Matlab can be found here.

Building

A predefined development environment for VSCode is provided here. To use this environment, simply open this repository in VSCode and: 1. Open the devcontainer with the command Dev Containers: Reopen in Container. This will automatically build the development environment and open it. Then run in the container: 1. The command CMake: Select a Kit to select a compiler. 2. The command CMake: Select Variant to select a the Release build type. 3. The command CMake: Build to build all targets. 4. The command CMake: Run tests to run the tests. 2. You can find the two executables in the bin directory: - nonrigid-icp is used to estimate the non-rigid transformation between two point clouds. - nonrigid-icp-transform is used to apply the estimated transformation to a point cloud.

Star History

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