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The problem of geometric alignment of two roughly pre-registered, partially overlapping , rigid, noisy 3D point sets is considered. A new natural and simple, robustified extension of the popular Iterative Closest Point (ICP) algorithm [1] is presented, called Trimmed ICP. The new algorithm is based on the consistent use of the Least Trimmed Squares approach(More)
The problem of geometric alignment of two roughly pre-registered, partially overlapping, rigid, noisy 3D point sets is considered. A new natural and simple, robustified extension of the popular Iterative Closest Point (ICP) algorithm [1] is presented, called the Trimmed ICP (TrICP). The new algorithm is based on the consistent use of the Least Trimmed(More)
The processing, description and recognition of dynamic (time-varying) textures are new exciting areas of texture analysis. Many real-world textures are dynamic textures whose retrieval from a video database should be based on both dynamic and static features. In this article, a method for extracting features revealing fundamental properties of dynamic(More)
This paper reports on a successful application of genetic optimisation in 3D data registration. We consider the problem of Euclidean alignment of two arbitrarily oriented, partially overlapping surfaces represented by measured point sets contaminated by noise and outliers. Recently, we have proposed the Trimmed Iterative Closest Point algorithm (TrICP) [1](More)
Regular structures, at and non-at, are perceived as regular in a wide range of viewing angles and under varying illumination. In this papers, we exploit this simple observation and develop an invariant measure of pattern regularity. The measure is the maximum of the regularity values obtained for diierent directions within the pattern. We demonstrate that(More)
We discuss a novel method for recovering fundamental, perceptually motivated structural features of a texture pattern: anisotropy, symmetry, and regularity. The method is based on extended spatial grey-level difference statistics which describe pairwise pixel interactions and yield an interaction map used to assess the overall two-dimensional structure of(More)
The separation of reflection components is an important issue in computer graphics, computer vision and image processing. It provides useful information for the applications that need consistent object surface appearance, such as stereo reconstruction, visual recognition, tracking, objects re-illumination and dichromatic editing. In this paper we will(More)