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RESULTADOS
1 ltIacutereFl de sobpimiento de (b pm de imltIacutegrnrs
(ft) Coniullto de imFIacutegenes iniciftl
Figura (l L ]econtruccioacuten de objeto cerrado empicando una reel ele parche TUnns
134
RESULTADOS
(c) Deteccioacutenv aniIacute]isi ele huecos
(d ) Cor recc ioacuten de huecos
Figura 61 Reconstruccioacuten de objeto ccrrado empleando una red de parches JURBS
(1) lCld]o
Figmit (it
RESULTADOS
(e) Objeto CuadrillLerizaoo
(1) loclt10 fin a l oblpllido ltliclianLe pil rcltes lJHHS
Figlfit (iexcll Ilceons tmecioacuten de objeto cerrado elllpleando una red de pnr(bcs )T nns (Ollt)
RESULTADOS
(d) Correccioacuten de huecos (e) CllndrilCrf1cioacuten de ) mnll t (r) Modelo fin eacutel l obtenido lllCdiflll l C parches NtTRBS
Figura 62 Reconstruceacutei611 del objel o laacutescara mediante una red de parches NUrU3S
137
(d) (OI IJlII lto de iTl leiacutegene inicial (b) llliexcljgellt~s legistnHliS (e) D CtCcc ioacutelI Y lI l iacute lii~ ch- hUtTO
Fiaura D3
RESULTADOS
---__ - ---shy
(a) (OlliUlltO ele imaacutegenes illicial (b) IrnaacutegelHS registradas
(c) Deteccioacuten y anaacutelisis de huecos (el) Correccioacuten de huecos
(eacute) (ultldrilaleracil)T1 de lil llIalla
Figura 63 Rcconstruccioacuten dc] obieto Foca llwdianlc Ul18 rcd ele parches NUIBS
138
0) IvlodlJu hlJal uuteacutellidu 1l1cdiarill j)trCheacute
rUlUlS
Capiacutetulo 7
CONCLUSIONES
La meacutetodologia propuesta en esta tesis para la reconstruccioacuten de objetos tridimensionales de forma libre posee un amplio dominio de aplicacioacuten permitiendo ajustar superficies inshydependientemente de la complejidad topoloacutegica de los objetos originales La combinacioacuten de teacutecnicas heuriacutesticas con teoriacuteas matemaacuteticas como la topologiacutea y la geometriacutea diferencial representa la robustez en la eficacia de las soluciones propuestas para las diferentes etapas del proceso de reconstruccioacuten 3-D que se desarrolla en esta tesis
Se han propuesto modificaciones a los meacutetodos tradicionales para realizar cada una de las tashyreas de las etapas del proceso de reconstruccioacuten de superficies de objetos 3-D En conjunto los meacutetodos sugieren una nueva forma de enfrentar la problemaacutetica del proceso de reconstruccioacuten aumentando la robustez y automatizando algunos procedimientos que tradicionalmente han sido realizados manualmente
El conjunto de meacutetodos de las etapas modificadas lo constituyen los procedimientos de reshygistro integracioacuten y ajuste La metodologiacutea inicia con un conjunto de imaacutegenes de rango parciales del objeto digitalizado las cuales se llevan a un mismo sistema de coordenadas mediante un proceso robusto de registro incorporando algoritmos geneacuteticos al procedimienshyto claacutesico basado en distancias El meacutetodo de registro permite obtener mejores resultados respecto a los meacutetodos claacutesicos cuando las condiciones relacionadas con la alineacioacuten inicial son maacutes complejas Es decir es maacutes robusto que los metodos ICP e ICP+N con respecto al error final de registro cuando las imaacutegenes a registrar poseen un alineamiento inicial con aacutengulos de rotacioacuten entre los 20deg y 55deg lo que permite registrar imaacutegenes sin un proceso de pre-alineamiento detallado
Posteriormente se aplica el meacutetodo de correccioacuten de anomaliacuteas topoloacutegicas asociadas con
139
ausencia de informacioacuten que permite corregir en el proceso ue auquisicioacuten ue las imaacutegelles propias del objeto El meacutetodo realiza la eorreel el uso de la geometriacutea diferencial para el anaacutelisi las curvas forrnauas por el conjunto ue aristas discontinuidades lo que permite una clasifi a que son caracteriacutesticas in ficacioacuten se Jasa en la se realiza nHdiante un procrso iterativ alrededor de los hu informacioacuten La ear superficie con punto tamauumlo del vecinuar que la region reconst local del meacutetodo per que representen glob
Fillalrnente el conjull de parches de superfi ti vas para evi tar el ef establecer las regiones un procedimiento de di~ rectangular es estimado espec tral ue mallas util presentaciones rcctangul superficie Esto permite
Limitaciones
El meacutetodo propuesto de re bargo el costo cornputacioll ICP+AG que en los otros m acarrean las soluciones basa implementacioacuten paralela de encontrar la solucioacuten
En el meacutetodo de correcioacuten el
~sJ bull
objetos tridimensionales o ajustar superficies inshyales La combinacioacuten de
geometriacutea diferencial a las diferentes etapas
ar cada una de las ta-3-D En conjunto los so de reconstruccioacuten adicionalmente han
cedimientos de reshymaacutegenes de rango
de coordenadas s al procedimienshyjores resultados lineacioacuten inicial
un proceso de
ausencia de informacioacuten que permite corregir automaacuteticamente discontinuidades generadas en el proceso de adquisicioacuten de las imaacutegenes diferenciando eacutestas de las discontinuidades propias del objeto El meacutetodo realiza la correccioacuten iniciando con una clasificacioacuten basada en el uso de la geometriacutea diferencial para el anaacutelisis de las caracteriacutesticas geomeacutetricas que poseen las curvas formadas por el conjunto de aristas que conectan los veacutertices de los bordes de las discontinuidades lo que permite una clasificacioacuten precisa de las anomaliacuteas topoloacutegicas debido a que son caracteriacutesticas invariantes a transformaciones espaciales Especiacuteficamente la clasishyficacioacuten se basa en la estimacioacuten de una medida de la variacioacuten de la torsioacuten y la correccioacuten se realiza mediante el uso de interpolantes locales de funciones de base radial estimados en un proceso iterativo que permite reproducir las caracteriacutesticas topoloacutegicas de las regiones alrededor de los huecos clasificados como anomaliacuteas topoloacutegicas asociadas con aus(ncia de informacioacuten La caracteriacutestica iterativa del meacutetodo minimiza el error de la nueva regioacuten de superficie con puntos geomeacutetricamente representativos alrededor del hueco aumentando el tamantildeo del vecindario en cada iteracioacuten hasta alcanzar un umbral de error lo que permite que la region reconstruida se integre suavemente con la superficie original La caracteriacutestica local del meacutetodo permite una correccioacuten eficiente debido a que evita calcular interpolantes que representen globalmente la superficie lo que reduce el costo computacional
Finalmente el conjunto de datos registrados y corregidos son ajustados mediante una red de parches de superficies NURBS Cada parche es optimizado mediante estrategias evolushytivas para evitar el efecto de suavizado excesivo que incorpora el ajuste con 1 URBS Para establecer las regiones en las cuales cada parche de superficie NUllDS se ajusta se realiza un procedimiento de divisioacuten de la malla original en segmentos rectangulares cada segmento rectangular es estimado mediante la conexioacuten de puntos criacuteticos generados mediante anaacutelisis espectral de mallas utilizando la teoriacutea de Morse La teoriacutea de Nlorse permite generar reshypresentaciones rectangulares no ambiguas sin importar la complejidad de la topologiacutea de la superficie Esto permite la aplicacioacuten del meacutetodo sobre un dominio amplio de objetos
Limi taciones
El meacutetodo propuesto de registro mostroacute ser robusto frente a procedimientos claacutesicos sin emshybargo el costo computacional relacionado con el tiempo asociado a la ejecucioacuten es mayor en el ICP+AG que en los otros meacutetodos debido a los costos computacionales que tradicionalmente acarrean las soluciones basadas en AG Sin embargo este puede ser disminuido mediante la implementacioacuten paralela del algoritmo lo que permitiriacutea reducir el tiempo necesario para encontrar la solucioacuten
En el meacutetodo de correcioacuten de huecos detecta automaacutetica y correctamente anomaliacuteas en la
140
CONCLUSIONES
superficie de los objetos sin embargo no todos los diferentes tipos de huecos son posibles de preservar Los huecos que tienen forma de isla hacen que d algoritmo falle en la etapa de deteccioacuten esto debido a que no es sencilla la clasificacioacuten de un borde externo como una anomaliacutea La adicioacuten para el tratamiento de este tipo de huecos constituye una futura directriz de trabajo Adicionalmente los huecos ubicados en regiones con caracteriacutesticas planas hace que en el meacutetodo propuesto se presente muy poca variacioacuten de la medida de la torsioacuten lo que evita la deteccioacuten y correccioacuten correcta de este tipo de huecos Es posible afrontar este problema relacionando la medida de la torsioacuten con caracteriacutesticas corno la estimacioacuten de la varianza de las normales de las aristas liacutemite
En el meacutetodo de ajuste de superficies no se realiza la determinacioacuten automaacutetica de la cantishydad de puntos criacuteticos necesarios para ajustar una superficie con un umbral establecido de error lo que constituye una lirniteacutelCioacuten dd meacutetodo propuesto y plantea una directriz para la realizacioacuten de trabajos futuros
141
-
CONCLUSIONES
10 todos los diferentes tipos de huecos son posibles ma de isla hacen que el algoritmo falle en la etapa ncilla la clasificacioacuten de un borde externo como una de este tipo de huecos constituye una futura directriz ubicados en regiones con caracteriacutesticas planas hace e muy poca variiexcliexclrioacuten de la medida de la torsioacuten lo ~~ Es posible afrontar este
corno la estimacioacuten de la
automaacutetica de la canti shyun umbral establecido de
tea uua directriiquest para la
142
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RESULTADOS
(c) Deteccioacutenv aniIacute]isi ele huecos
(d ) Cor recc ioacuten de huecos
Figura 61 Reconstruccioacuten de objeto ccrrado empleando una red de parches JURBS
(1) lCld]o
Figmit (it
RESULTADOS
(e) Objeto CuadrillLerizaoo
(1) loclt10 fin a l oblpllido ltliclianLe pil rcltes lJHHS
Figlfit (iexcll Ilceons tmecioacuten de objeto cerrado elllpleando una red de pnr(bcs )T nns (Ollt)
RESULTADOS
(d) Correccioacuten de huecos (e) CllndrilCrf1cioacuten de ) mnll t (r) Modelo fin eacutel l obtenido lllCdiflll l C parches NtTRBS
Figura 62 Reconstruceacutei611 del objel o laacutescara mediante una red de parches NUrU3S
137
(d) (OI IJlII lto de iTl leiacutegene inicial (b) llliexcljgellt~s legistnHliS (e) D CtCcc ioacutelI Y lI l iacute lii~ ch- hUtTO
Fiaura D3
RESULTADOS
---__ - ---shy
(a) (OlliUlltO ele imaacutegenes illicial (b) IrnaacutegelHS registradas
(c) Deteccioacuten y anaacutelisis de huecos (el) Correccioacuten de huecos
(eacute) (ultldrilaleracil)T1 de lil llIalla
Figura 63 Rcconstruccioacuten dc] obieto Foca llwdianlc Ul18 rcd ele parches NUIBS
138
0) IvlodlJu hlJal uuteacutellidu 1l1cdiarill j)trCheacute
rUlUlS
Capiacutetulo 7
CONCLUSIONES
La meacutetodologia propuesta en esta tesis para la reconstruccioacuten de objetos tridimensionales de forma libre posee un amplio dominio de aplicacioacuten permitiendo ajustar superficies inshydependientemente de la complejidad topoloacutegica de los objetos originales La combinacioacuten de teacutecnicas heuriacutesticas con teoriacuteas matemaacuteticas como la topologiacutea y la geometriacutea diferencial representa la robustez en la eficacia de las soluciones propuestas para las diferentes etapas del proceso de reconstruccioacuten 3-D que se desarrolla en esta tesis
Se han propuesto modificaciones a los meacutetodos tradicionales para realizar cada una de las tashyreas de las etapas del proceso de reconstruccioacuten de superficies de objetos 3-D En conjunto los meacutetodos sugieren una nueva forma de enfrentar la problemaacutetica del proceso de reconstruccioacuten aumentando la robustez y automatizando algunos procedimientos que tradicionalmente han sido realizados manualmente
El conjunto de meacutetodos de las etapas modificadas lo constituyen los procedimientos de reshygistro integracioacuten y ajuste La metodologiacutea inicia con un conjunto de imaacutegenes de rango parciales del objeto digitalizado las cuales se llevan a un mismo sistema de coordenadas mediante un proceso robusto de registro incorporando algoritmos geneacuteticos al procedimienshyto claacutesico basado en distancias El meacutetodo de registro permite obtener mejores resultados respecto a los meacutetodos claacutesicos cuando las condiciones relacionadas con la alineacioacuten inicial son maacutes complejas Es decir es maacutes robusto que los metodos ICP e ICP+N con respecto al error final de registro cuando las imaacutegenes a registrar poseen un alineamiento inicial con aacutengulos de rotacioacuten entre los 20deg y 55deg lo que permite registrar imaacutegenes sin un proceso de pre-alineamiento detallado
Posteriormente se aplica el meacutetodo de correccioacuten de anomaliacuteas topoloacutegicas asociadas con
139
ausencia de informacioacuten que permite corregir en el proceso ue auquisicioacuten ue las imaacutegelles propias del objeto El meacutetodo realiza la eorreel el uso de la geometriacutea diferencial para el anaacutelisi las curvas forrnauas por el conjunto ue aristas discontinuidades lo que permite una clasifi a que son caracteriacutesticas in ficacioacuten se Jasa en la se realiza nHdiante un procrso iterativ alrededor de los hu informacioacuten La ear superficie con punto tamauumlo del vecinuar que la region reconst local del meacutetodo per que representen glob
Fillalrnente el conjull de parches de superfi ti vas para evi tar el ef establecer las regiones un procedimiento de di~ rectangular es estimado espec tral ue mallas util presentaciones rcctangul superficie Esto permite
Limitaciones
El meacutetodo propuesto de re bargo el costo cornputacioll ICP+AG que en los otros m acarrean las soluciones basa implementacioacuten paralela de encontrar la solucioacuten
En el meacutetodo de correcioacuten el
~sJ bull
objetos tridimensionales o ajustar superficies inshyales La combinacioacuten de
geometriacutea diferencial a las diferentes etapas
ar cada una de las ta-3-D En conjunto los so de reconstruccioacuten adicionalmente han
cedimientos de reshymaacutegenes de rango
de coordenadas s al procedimienshyjores resultados lineacioacuten inicial
un proceso de
ausencia de informacioacuten que permite corregir automaacuteticamente discontinuidades generadas en el proceso de adquisicioacuten de las imaacutegenes diferenciando eacutestas de las discontinuidades propias del objeto El meacutetodo realiza la correccioacuten iniciando con una clasificacioacuten basada en el uso de la geometriacutea diferencial para el anaacutelisis de las caracteriacutesticas geomeacutetricas que poseen las curvas formadas por el conjunto de aristas que conectan los veacutertices de los bordes de las discontinuidades lo que permite una clasificacioacuten precisa de las anomaliacuteas topoloacutegicas debido a que son caracteriacutesticas invariantes a transformaciones espaciales Especiacuteficamente la clasishyficacioacuten se basa en la estimacioacuten de una medida de la variacioacuten de la torsioacuten y la correccioacuten se realiza mediante el uso de interpolantes locales de funciones de base radial estimados en un proceso iterativo que permite reproducir las caracteriacutesticas topoloacutegicas de las regiones alrededor de los huecos clasificados como anomaliacuteas topoloacutegicas asociadas con aus(ncia de informacioacuten La caracteriacutestica iterativa del meacutetodo minimiza el error de la nueva regioacuten de superficie con puntos geomeacutetricamente representativos alrededor del hueco aumentando el tamantildeo del vecindario en cada iteracioacuten hasta alcanzar un umbral de error lo que permite que la region reconstruida se integre suavemente con la superficie original La caracteriacutestica local del meacutetodo permite una correccioacuten eficiente debido a que evita calcular interpolantes que representen globalmente la superficie lo que reduce el costo computacional
Finalmente el conjunto de datos registrados y corregidos son ajustados mediante una red de parches de superficies NURBS Cada parche es optimizado mediante estrategias evolushytivas para evitar el efecto de suavizado excesivo que incorpora el ajuste con 1 URBS Para establecer las regiones en las cuales cada parche de superficie NUllDS se ajusta se realiza un procedimiento de divisioacuten de la malla original en segmentos rectangulares cada segmento rectangular es estimado mediante la conexioacuten de puntos criacuteticos generados mediante anaacutelisis espectral de mallas utilizando la teoriacutea de Morse La teoriacutea de Nlorse permite generar reshypresentaciones rectangulares no ambiguas sin importar la complejidad de la topologiacutea de la superficie Esto permite la aplicacioacuten del meacutetodo sobre un dominio amplio de objetos
Limi taciones
El meacutetodo propuesto de registro mostroacute ser robusto frente a procedimientos claacutesicos sin emshybargo el costo computacional relacionado con el tiempo asociado a la ejecucioacuten es mayor en el ICP+AG que en los otros meacutetodos debido a los costos computacionales que tradicionalmente acarrean las soluciones basadas en AG Sin embargo este puede ser disminuido mediante la implementacioacuten paralela del algoritmo lo que permitiriacutea reducir el tiempo necesario para encontrar la solucioacuten
En el meacutetodo de correcioacuten de huecos detecta automaacutetica y correctamente anomaliacuteas en la
140
CONCLUSIONES
superficie de los objetos sin embargo no todos los diferentes tipos de huecos son posibles de preservar Los huecos que tienen forma de isla hacen que d algoritmo falle en la etapa de deteccioacuten esto debido a que no es sencilla la clasificacioacuten de un borde externo como una anomaliacutea La adicioacuten para el tratamiento de este tipo de huecos constituye una futura directriz de trabajo Adicionalmente los huecos ubicados en regiones con caracteriacutesticas planas hace que en el meacutetodo propuesto se presente muy poca variacioacuten de la medida de la torsioacuten lo que evita la deteccioacuten y correccioacuten correcta de este tipo de huecos Es posible afrontar este problema relacionando la medida de la torsioacuten con caracteriacutesticas corno la estimacioacuten de la varianza de las normales de las aristas liacutemite
En el meacutetodo de ajuste de superficies no se realiza la determinacioacuten automaacutetica de la cantishydad de puntos criacuteticos necesarios para ajustar una superficie con un umbral establecido de error lo que constituye una lirniteacutelCioacuten dd meacutetodo propuesto y plantea una directriz para la realizacioacuten de trabajos futuros
141
-
CONCLUSIONES
10 todos los diferentes tipos de huecos son posibles ma de isla hacen que el algoritmo falle en la etapa ncilla la clasificacioacuten de un borde externo como una de este tipo de huecos constituye una futura directriz ubicados en regiones con caracteriacutesticas planas hace e muy poca variiexcliexclrioacuten de la medida de la torsioacuten lo ~~ Es posible afrontar este
corno la estimacioacuten de la
automaacutetica de la canti shyun umbral establecido de
tea uua directriiquest para la
142
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REFERENCIAS
101 Sehwetlick H Lcast squares
l~ ) 0 1 Silva L Bellon O and Boyer 1lt faee inter llctrat ion measurc anrl Anal da h nLell 27(5)762shy
[ luumlU] Silv bull
POI)
[102] St AlI
[1031 Stl
rlU4] Tan tiOIl
105] Tizia verli
1lH ij Turk 94
lU71Turk Comp
[lO8] Verspr form 1
~ l( 191 Weber critical
~ lluuml] Wcik S
bono pa
l u l Weillcrt nical rep
RESULTADOS
(e) Objeto CuadrillLerizaoo
(1) loclt10 fin a l oblpllido ltliclianLe pil rcltes lJHHS
Figlfit (iexcll Ilceons tmecioacuten de objeto cerrado elllpleando una red de pnr(bcs )T nns (Ollt)
RESULTADOS
(d) Correccioacuten de huecos (e) CllndrilCrf1cioacuten de ) mnll t (r) Modelo fin eacutel l obtenido lllCdiflll l C parches NtTRBS
Figura 62 Reconstruceacutei611 del objel o laacutescara mediante una red de parches NUrU3S
137
(d) (OI IJlII lto de iTl leiacutegene inicial (b) llliexcljgellt~s legistnHliS (e) D CtCcc ioacutelI Y lI l iacute lii~ ch- hUtTO
Fiaura D3
RESULTADOS
---__ - ---shy
(a) (OlliUlltO ele imaacutegenes illicial (b) IrnaacutegelHS registradas
(c) Deteccioacuten y anaacutelisis de huecos (el) Correccioacuten de huecos
(eacute) (ultldrilaleracil)T1 de lil llIalla
Figura 63 Rcconstruccioacuten dc] obieto Foca llwdianlc Ul18 rcd ele parches NUIBS
138
0) IvlodlJu hlJal uuteacutellidu 1l1cdiarill j)trCheacute
rUlUlS
Capiacutetulo 7
CONCLUSIONES
La meacutetodologia propuesta en esta tesis para la reconstruccioacuten de objetos tridimensionales de forma libre posee un amplio dominio de aplicacioacuten permitiendo ajustar superficies inshydependientemente de la complejidad topoloacutegica de los objetos originales La combinacioacuten de teacutecnicas heuriacutesticas con teoriacuteas matemaacuteticas como la topologiacutea y la geometriacutea diferencial representa la robustez en la eficacia de las soluciones propuestas para las diferentes etapas del proceso de reconstruccioacuten 3-D que se desarrolla en esta tesis
Se han propuesto modificaciones a los meacutetodos tradicionales para realizar cada una de las tashyreas de las etapas del proceso de reconstruccioacuten de superficies de objetos 3-D En conjunto los meacutetodos sugieren una nueva forma de enfrentar la problemaacutetica del proceso de reconstruccioacuten aumentando la robustez y automatizando algunos procedimientos que tradicionalmente han sido realizados manualmente
El conjunto de meacutetodos de las etapas modificadas lo constituyen los procedimientos de reshygistro integracioacuten y ajuste La metodologiacutea inicia con un conjunto de imaacutegenes de rango parciales del objeto digitalizado las cuales se llevan a un mismo sistema de coordenadas mediante un proceso robusto de registro incorporando algoritmos geneacuteticos al procedimienshyto claacutesico basado en distancias El meacutetodo de registro permite obtener mejores resultados respecto a los meacutetodos claacutesicos cuando las condiciones relacionadas con la alineacioacuten inicial son maacutes complejas Es decir es maacutes robusto que los metodos ICP e ICP+N con respecto al error final de registro cuando las imaacutegenes a registrar poseen un alineamiento inicial con aacutengulos de rotacioacuten entre los 20deg y 55deg lo que permite registrar imaacutegenes sin un proceso de pre-alineamiento detallado
Posteriormente se aplica el meacutetodo de correccioacuten de anomaliacuteas topoloacutegicas asociadas con
139
ausencia de informacioacuten que permite corregir en el proceso ue auquisicioacuten ue las imaacutegelles propias del objeto El meacutetodo realiza la eorreel el uso de la geometriacutea diferencial para el anaacutelisi las curvas forrnauas por el conjunto ue aristas discontinuidades lo que permite una clasifi a que son caracteriacutesticas in ficacioacuten se Jasa en la se realiza nHdiante un procrso iterativ alrededor de los hu informacioacuten La ear superficie con punto tamauumlo del vecinuar que la region reconst local del meacutetodo per que representen glob
Fillalrnente el conjull de parches de superfi ti vas para evi tar el ef establecer las regiones un procedimiento de di~ rectangular es estimado espec tral ue mallas util presentaciones rcctangul superficie Esto permite
Limitaciones
El meacutetodo propuesto de re bargo el costo cornputacioll ICP+AG que en los otros m acarrean las soluciones basa implementacioacuten paralela de encontrar la solucioacuten
En el meacutetodo de correcioacuten el
~sJ bull
objetos tridimensionales o ajustar superficies inshyales La combinacioacuten de
geometriacutea diferencial a las diferentes etapas
ar cada una de las ta-3-D En conjunto los so de reconstruccioacuten adicionalmente han
cedimientos de reshymaacutegenes de rango
de coordenadas s al procedimienshyjores resultados lineacioacuten inicial
un proceso de
ausencia de informacioacuten que permite corregir automaacuteticamente discontinuidades generadas en el proceso de adquisicioacuten de las imaacutegenes diferenciando eacutestas de las discontinuidades propias del objeto El meacutetodo realiza la correccioacuten iniciando con una clasificacioacuten basada en el uso de la geometriacutea diferencial para el anaacutelisis de las caracteriacutesticas geomeacutetricas que poseen las curvas formadas por el conjunto de aristas que conectan los veacutertices de los bordes de las discontinuidades lo que permite una clasificacioacuten precisa de las anomaliacuteas topoloacutegicas debido a que son caracteriacutesticas invariantes a transformaciones espaciales Especiacuteficamente la clasishyficacioacuten se basa en la estimacioacuten de una medida de la variacioacuten de la torsioacuten y la correccioacuten se realiza mediante el uso de interpolantes locales de funciones de base radial estimados en un proceso iterativo que permite reproducir las caracteriacutesticas topoloacutegicas de las regiones alrededor de los huecos clasificados como anomaliacuteas topoloacutegicas asociadas con aus(ncia de informacioacuten La caracteriacutestica iterativa del meacutetodo minimiza el error de la nueva regioacuten de superficie con puntos geomeacutetricamente representativos alrededor del hueco aumentando el tamantildeo del vecindario en cada iteracioacuten hasta alcanzar un umbral de error lo que permite que la region reconstruida se integre suavemente con la superficie original La caracteriacutestica local del meacutetodo permite una correccioacuten eficiente debido a que evita calcular interpolantes que representen globalmente la superficie lo que reduce el costo computacional
Finalmente el conjunto de datos registrados y corregidos son ajustados mediante una red de parches de superficies NURBS Cada parche es optimizado mediante estrategias evolushytivas para evitar el efecto de suavizado excesivo que incorpora el ajuste con 1 URBS Para establecer las regiones en las cuales cada parche de superficie NUllDS se ajusta se realiza un procedimiento de divisioacuten de la malla original en segmentos rectangulares cada segmento rectangular es estimado mediante la conexioacuten de puntos criacuteticos generados mediante anaacutelisis espectral de mallas utilizando la teoriacutea de Morse La teoriacutea de Nlorse permite generar reshypresentaciones rectangulares no ambiguas sin importar la complejidad de la topologiacutea de la superficie Esto permite la aplicacioacuten del meacutetodo sobre un dominio amplio de objetos
Limi taciones
El meacutetodo propuesto de registro mostroacute ser robusto frente a procedimientos claacutesicos sin emshybargo el costo computacional relacionado con el tiempo asociado a la ejecucioacuten es mayor en el ICP+AG que en los otros meacutetodos debido a los costos computacionales que tradicionalmente acarrean las soluciones basadas en AG Sin embargo este puede ser disminuido mediante la implementacioacuten paralela del algoritmo lo que permitiriacutea reducir el tiempo necesario para encontrar la solucioacuten
En el meacutetodo de correcioacuten de huecos detecta automaacutetica y correctamente anomaliacuteas en la
140
CONCLUSIONES
superficie de los objetos sin embargo no todos los diferentes tipos de huecos son posibles de preservar Los huecos que tienen forma de isla hacen que d algoritmo falle en la etapa de deteccioacuten esto debido a que no es sencilla la clasificacioacuten de un borde externo como una anomaliacutea La adicioacuten para el tratamiento de este tipo de huecos constituye una futura directriz de trabajo Adicionalmente los huecos ubicados en regiones con caracteriacutesticas planas hace que en el meacutetodo propuesto se presente muy poca variacioacuten de la medida de la torsioacuten lo que evita la deteccioacuten y correccioacuten correcta de este tipo de huecos Es posible afrontar este problema relacionando la medida de la torsioacuten con caracteriacutesticas corno la estimacioacuten de la varianza de las normales de las aristas liacutemite
En el meacutetodo de ajuste de superficies no se realiza la determinacioacuten automaacutetica de la cantishydad de puntos criacuteticos necesarios para ajustar una superficie con un umbral establecido de error lo que constituye una lirniteacutelCioacuten dd meacutetodo propuesto y plantea una directriz para la realizacioacuten de trabajos futuros
141
-
CONCLUSIONES
10 todos los diferentes tipos de huecos son posibles ma de isla hacen que el algoritmo falle en la etapa ncilla la clasificacioacuten de un borde externo como una de este tipo de huecos constituye una futura directriz ubicados en regiones con caracteriacutesticas planas hace e muy poca variiexcliexclrioacuten de la medida de la torsioacuten lo ~~ Es posible afrontar este
corno la estimacioacuten de la
automaacutetica de la canti shyun umbral establecido de
tea uua directriiquest para la
142
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RESULTADOS
(d) Correccioacuten de huecos (e) CllndrilCrf1cioacuten de ) mnll t (r) Modelo fin eacutel l obtenido lllCdiflll l C parches NtTRBS
Figura 62 Reconstruceacutei611 del objel o laacutescara mediante una red de parches NUrU3S
137
(d) (OI IJlII lto de iTl leiacutegene inicial (b) llliexcljgellt~s legistnHliS (e) D CtCcc ioacutelI Y lI l iacute lii~ ch- hUtTO
Fiaura D3
RESULTADOS
---__ - ---shy
(a) (OlliUlltO ele imaacutegenes illicial (b) IrnaacutegelHS registradas
(c) Deteccioacuten y anaacutelisis de huecos (el) Correccioacuten de huecos
(eacute) (ultldrilaleracil)T1 de lil llIalla
Figura 63 Rcconstruccioacuten dc] obieto Foca llwdianlc Ul18 rcd ele parches NUIBS
138
0) IvlodlJu hlJal uuteacutellidu 1l1cdiarill j)trCheacute
rUlUlS
Capiacutetulo 7
CONCLUSIONES
La meacutetodologia propuesta en esta tesis para la reconstruccioacuten de objetos tridimensionales de forma libre posee un amplio dominio de aplicacioacuten permitiendo ajustar superficies inshydependientemente de la complejidad topoloacutegica de los objetos originales La combinacioacuten de teacutecnicas heuriacutesticas con teoriacuteas matemaacuteticas como la topologiacutea y la geometriacutea diferencial representa la robustez en la eficacia de las soluciones propuestas para las diferentes etapas del proceso de reconstruccioacuten 3-D que se desarrolla en esta tesis
Se han propuesto modificaciones a los meacutetodos tradicionales para realizar cada una de las tashyreas de las etapas del proceso de reconstruccioacuten de superficies de objetos 3-D En conjunto los meacutetodos sugieren una nueva forma de enfrentar la problemaacutetica del proceso de reconstruccioacuten aumentando la robustez y automatizando algunos procedimientos que tradicionalmente han sido realizados manualmente
El conjunto de meacutetodos de las etapas modificadas lo constituyen los procedimientos de reshygistro integracioacuten y ajuste La metodologiacutea inicia con un conjunto de imaacutegenes de rango parciales del objeto digitalizado las cuales se llevan a un mismo sistema de coordenadas mediante un proceso robusto de registro incorporando algoritmos geneacuteticos al procedimienshyto claacutesico basado en distancias El meacutetodo de registro permite obtener mejores resultados respecto a los meacutetodos claacutesicos cuando las condiciones relacionadas con la alineacioacuten inicial son maacutes complejas Es decir es maacutes robusto que los metodos ICP e ICP+N con respecto al error final de registro cuando las imaacutegenes a registrar poseen un alineamiento inicial con aacutengulos de rotacioacuten entre los 20deg y 55deg lo que permite registrar imaacutegenes sin un proceso de pre-alineamiento detallado
Posteriormente se aplica el meacutetodo de correccioacuten de anomaliacuteas topoloacutegicas asociadas con
139
ausencia de informacioacuten que permite corregir en el proceso ue auquisicioacuten ue las imaacutegelles propias del objeto El meacutetodo realiza la eorreel el uso de la geometriacutea diferencial para el anaacutelisi las curvas forrnauas por el conjunto ue aristas discontinuidades lo que permite una clasifi a que son caracteriacutesticas in ficacioacuten se Jasa en la se realiza nHdiante un procrso iterativ alrededor de los hu informacioacuten La ear superficie con punto tamauumlo del vecinuar que la region reconst local del meacutetodo per que representen glob
Fillalrnente el conjull de parches de superfi ti vas para evi tar el ef establecer las regiones un procedimiento de di~ rectangular es estimado espec tral ue mallas util presentaciones rcctangul superficie Esto permite
Limitaciones
El meacutetodo propuesto de re bargo el costo cornputacioll ICP+AG que en los otros m acarrean las soluciones basa implementacioacuten paralela de encontrar la solucioacuten
En el meacutetodo de correcioacuten el
~sJ bull
objetos tridimensionales o ajustar superficies inshyales La combinacioacuten de
geometriacutea diferencial a las diferentes etapas
ar cada una de las ta-3-D En conjunto los so de reconstruccioacuten adicionalmente han
cedimientos de reshymaacutegenes de rango
de coordenadas s al procedimienshyjores resultados lineacioacuten inicial
un proceso de
ausencia de informacioacuten que permite corregir automaacuteticamente discontinuidades generadas en el proceso de adquisicioacuten de las imaacutegenes diferenciando eacutestas de las discontinuidades propias del objeto El meacutetodo realiza la correccioacuten iniciando con una clasificacioacuten basada en el uso de la geometriacutea diferencial para el anaacutelisis de las caracteriacutesticas geomeacutetricas que poseen las curvas formadas por el conjunto de aristas que conectan los veacutertices de los bordes de las discontinuidades lo que permite una clasificacioacuten precisa de las anomaliacuteas topoloacutegicas debido a que son caracteriacutesticas invariantes a transformaciones espaciales Especiacuteficamente la clasishyficacioacuten se basa en la estimacioacuten de una medida de la variacioacuten de la torsioacuten y la correccioacuten se realiza mediante el uso de interpolantes locales de funciones de base radial estimados en un proceso iterativo que permite reproducir las caracteriacutesticas topoloacutegicas de las regiones alrededor de los huecos clasificados como anomaliacuteas topoloacutegicas asociadas con aus(ncia de informacioacuten La caracteriacutestica iterativa del meacutetodo minimiza el error de la nueva regioacuten de superficie con puntos geomeacutetricamente representativos alrededor del hueco aumentando el tamantildeo del vecindario en cada iteracioacuten hasta alcanzar un umbral de error lo que permite que la region reconstruida se integre suavemente con la superficie original La caracteriacutestica local del meacutetodo permite una correccioacuten eficiente debido a que evita calcular interpolantes que representen globalmente la superficie lo que reduce el costo computacional
Finalmente el conjunto de datos registrados y corregidos son ajustados mediante una red de parches de superficies NURBS Cada parche es optimizado mediante estrategias evolushytivas para evitar el efecto de suavizado excesivo que incorpora el ajuste con 1 URBS Para establecer las regiones en las cuales cada parche de superficie NUllDS se ajusta se realiza un procedimiento de divisioacuten de la malla original en segmentos rectangulares cada segmento rectangular es estimado mediante la conexioacuten de puntos criacuteticos generados mediante anaacutelisis espectral de mallas utilizando la teoriacutea de Morse La teoriacutea de Nlorse permite generar reshypresentaciones rectangulares no ambiguas sin importar la complejidad de la topologiacutea de la superficie Esto permite la aplicacioacuten del meacutetodo sobre un dominio amplio de objetos
Limi taciones
El meacutetodo propuesto de registro mostroacute ser robusto frente a procedimientos claacutesicos sin emshybargo el costo computacional relacionado con el tiempo asociado a la ejecucioacuten es mayor en el ICP+AG que en los otros meacutetodos debido a los costos computacionales que tradicionalmente acarrean las soluciones basadas en AG Sin embargo este puede ser disminuido mediante la implementacioacuten paralela del algoritmo lo que permitiriacutea reducir el tiempo necesario para encontrar la solucioacuten
En el meacutetodo de correcioacuten de huecos detecta automaacutetica y correctamente anomaliacuteas en la
140
CONCLUSIONES
superficie de los objetos sin embargo no todos los diferentes tipos de huecos son posibles de preservar Los huecos que tienen forma de isla hacen que d algoritmo falle en la etapa de deteccioacuten esto debido a que no es sencilla la clasificacioacuten de un borde externo como una anomaliacutea La adicioacuten para el tratamiento de este tipo de huecos constituye una futura directriz de trabajo Adicionalmente los huecos ubicados en regiones con caracteriacutesticas planas hace que en el meacutetodo propuesto se presente muy poca variacioacuten de la medida de la torsioacuten lo que evita la deteccioacuten y correccioacuten correcta de este tipo de huecos Es posible afrontar este problema relacionando la medida de la torsioacuten con caracteriacutesticas corno la estimacioacuten de la varianza de las normales de las aristas liacutemite
En el meacutetodo de ajuste de superficies no se realiza la determinacioacuten automaacutetica de la cantishydad de puntos criacuteticos necesarios para ajustar una superficie con un umbral establecido de error lo que constituye una lirniteacutelCioacuten dd meacutetodo propuesto y plantea una directriz para la realizacioacuten de trabajos futuros
141
-
CONCLUSIONES
10 todos los diferentes tipos de huecos son posibles ma de isla hacen que el algoritmo falle en la etapa ncilla la clasificacioacuten de un borde externo como una de este tipo de huecos constituye una futura directriz ubicados en regiones con caracteriacutesticas planas hace e muy poca variiexcliexclrioacuten de la medida de la torsioacuten lo ~~ Es posible afrontar este
corno la estimacioacuten de la
automaacutetica de la canti shyun umbral establecido de
tea uua directriiquest para la
142
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101 Sehwetlick H Lcast squares
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[ luumlU] Silv bull
POI)
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rlU4] Tan tiOIl
105] Tizia verli
1lH ij Turk 94
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[lO8] Verspr form 1
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~ lluuml] Wcik S
bono pa
l u l Weillcrt nical rep
RESULTADOS
---__ - ---shy
(a) (OlliUlltO ele imaacutegenes illicial (b) IrnaacutegelHS registradas
(c) Deteccioacuten y anaacutelisis de huecos (el) Correccioacuten de huecos
(eacute) (ultldrilaleracil)T1 de lil llIalla
Figura 63 Rcconstruccioacuten dc] obieto Foca llwdianlc Ul18 rcd ele parches NUIBS
138
0) IvlodlJu hlJal uuteacutellidu 1l1cdiarill j)trCheacute
rUlUlS
Capiacutetulo 7
CONCLUSIONES
La meacutetodologia propuesta en esta tesis para la reconstruccioacuten de objetos tridimensionales de forma libre posee un amplio dominio de aplicacioacuten permitiendo ajustar superficies inshydependientemente de la complejidad topoloacutegica de los objetos originales La combinacioacuten de teacutecnicas heuriacutesticas con teoriacuteas matemaacuteticas como la topologiacutea y la geometriacutea diferencial representa la robustez en la eficacia de las soluciones propuestas para las diferentes etapas del proceso de reconstruccioacuten 3-D que se desarrolla en esta tesis
Se han propuesto modificaciones a los meacutetodos tradicionales para realizar cada una de las tashyreas de las etapas del proceso de reconstruccioacuten de superficies de objetos 3-D En conjunto los meacutetodos sugieren una nueva forma de enfrentar la problemaacutetica del proceso de reconstruccioacuten aumentando la robustez y automatizando algunos procedimientos que tradicionalmente han sido realizados manualmente
El conjunto de meacutetodos de las etapas modificadas lo constituyen los procedimientos de reshygistro integracioacuten y ajuste La metodologiacutea inicia con un conjunto de imaacutegenes de rango parciales del objeto digitalizado las cuales se llevan a un mismo sistema de coordenadas mediante un proceso robusto de registro incorporando algoritmos geneacuteticos al procedimienshyto claacutesico basado en distancias El meacutetodo de registro permite obtener mejores resultados respecto a los meacutetodos claacutesicos cuando las condiciones relacionadas con la alineacioacuten inicial son maacutes complejas Es decir es maacutes robusto que los metodos ICP e ICP+N con respecto al error final de registro cuando las imaacutegenes a registrar poseen un alineamiento inicial con aacutengulos de rotacioacuten entre los 20deg y 55deg lo que permite registrar imaacutegenes sin un proceso de pre-alineamiento detallado
Posteriormente se aplica el meacutetodo de correccioacuten de anomaliacuteas topoloacutegicas asociadas con
139
ausencia de informacioacuten que permite corregir en el proceso ue auquisicioacuten ue las imaacutegelles propias del objeto El meacutetodo realiza la eorreel el uso de la geometriacutea diferencial para el anaacutelisi las curvas forrnauas por el conjunto ue aristas discontinuidades lo que permite una clasifi a que son caracteriacutesticas in ficacioacuten se Jasa en la se realiza nHdiante un procrso iterativ alrededor de los hu informacioacuten La ear superficie con punto tamauumlo del vecinuar que la region reconst local del meacutetodo per que representen glob
Fillalrnente el conjull de parches de superfi ti vas para evi tar el ef establecer las regiones un procedimiento de di~ rectangular es estimado espec tral ue mallas util presentaciones rcctangul superficie Esto permite
Limitaciones
El meacutetodo propuesto de re bargo el costo cornputacioll ICP+AG que en los otros m acarrean las soluciones basa implementacioacuten paralela de encontrar la solucioacuten
En el meacutetodo de correcioacuten el
~sJ bull
objetos tridimensionales o ajustar superficies inshyales La combinacioacuten de
geometriacutea diferencial a las diferentes etapas
ar cada una de las ta-3-D En conjunto los so de reconstruccioacuten adicionalmente han
cedimientos de reshymaacutegenes de rango
de coordenadas s al procedimienshyjores resultados lineacioacuten inicial
un proceso de
ausencia de informacioacuten que permite corregir automaacuteticamente discontinuidades generadas en el proceso de adquisicioacuten de las imaacutegenes diferenciando eacutestas de las discontinuidades propias del objeto El meacutetodo realiza la correccioacuten iniciando con una clasificacioacuten basada en el uso de la geometriacutea diferencial para el anaacutelisis de las caracteriacutesticas geomeacutetricas que poseen las curvas formadas por el conjunto de aristas que conectan los veacutertices de los bordes de las discontinuidades lo que permite una clasificacioacuten precisa de las anomaliacuteas topoloacutegicas debido a que son caracteriacutesticas invariantes a transformaciones espaciales Especiacuteficamente la clasishyficacioacuten se basa en la estimacioacuten de una medida de la variacioacuten de la torsioacuten y la correccioacuten se realiza mediante el uso de interpolantes locales de funciones de base radial estimados en un proceso iterativo que permite reproducir las caracteriacutesticas topoloacutegicas de las regiones alrededor de los huecos clasificados como anomaliacuteas topoloacutegicas asociadas con aus(ncia de informacioacuten La caracteriacutestica iterativa del meacutetodo minimiza el error de la nueva regioacuten de superficie con puntos geomeacutetricamente representativos alrededor del hueco aumentando el tamantildeo del vecindario en cada iteracioacuten hasta alcanzar un umbral de error lo que permite que la region reconstruida se integre suavemente con la superficie original La caracteriacutestica local del meacutetodo permite una correccioacuten eficiente debido a que evita calcular interpolantes que representen globalmente la superficie lo que reduce el costo computacional
Finalmente el conjunto de datos registrados y corregidos son ajustados mediante una red de parches de superficies NURBS Cada parche es optimizado mediante estrategias evolushytivas para evitar el efecto de suavizado excesivo que incorpora el ajuste con 1 URBS Para establecer las regiones en las cuales cada parche de superficie NUllDS se ajusta se realiza un procedimiento de divisioacuten de la malla original en segmentos rectangulares cada segmento rectangular es estimado mediante la conexioacuten de puntos criacuteticos generados mediante anaacutelisis espectral de mallas utilizando la teoriacutea de Morse La teoriacutea de Nlorse permite generar reshypresentaciones rectangulares no ambiguas sin importar la complejidad de la topologiacutea de la superficie Esto permite la aplicacioacuten del meacutetodo sobre un dominio amplio de objetos
Limi taciones
El meacutetodo propuesto de registro mostroacute ser robusto frente a procedimientos claacutesicos sin emshybargo el costo computacional relacionado con el tiempo asociado a la ejecucioacuten es mayor en el ICP+AG que en los otros meacutetodos debido a los costos computacionales que tradicionalmente acarrean las soluciones basadas en AG Sin embargo este puede ser disminuido mediante la implementacioacuten paralela del algoritmo lo que permitiriacutea reducir el tiempo necesario para encontrar la solucioacuten
En el meacutetodo de correcioacuten de huecos detecta automaacutetica y correctamente anomaliacuteas en la
140
CONCLUSIONES
superficie de los objetos sin embargo no todos los diferentes tipos de huecos son posibles de preservar Los huecos que tienen forma de isla hacen que d algoritmo falle en la etapa de deteccioacuten esto debido a que no es sencilla la clasificacioacuten de un borde externo como una anomaliacutea La adicioacuten para el tratamiento de este tipo de huecos constituye una futura directriz de trabajo Adicionalmente los huecos ubicados en regiones con caracteriacutesticas planas hace que en el meacutetodo propuesto se presente muy poca variacioacuten de la medida de la torsioacuten lo que evita la deteccioacuten y correccioacuten correcta de este tipo de huecos Es posible afrontar este problema relacionando la medida de la torsioacuten con caracteriacutesticas corno la estimacioacuten de la varianza de las normales de las aristas liacutemite
En el meacutetodo de ajuste de superficies no se realiza la determinacioacuten automaacutetica de la cantishydad de puntos criacuteticos necesarios para ajustar una superficie con un umbral establecido de error lo que constituye una lirniteacutelCioacuten dd meacutetodo propuesto y plantea una directriz para la realizacioacuten de trabajos futuros
141
-
CONCLUSIONES
10 todos los diferentes tipos de huecos son posibles ma de isla hacen que el algoritmo falle en la etapa ncilla la clasificacioacuten de un borde externo como una de este tipo de huecos constituye una futura directriz ubicados en regiones con caracteriacutesticas planas hace e muy poca variiexcliexclrioacuten de la medida de la torsioacuten lo ~~ Es posible afrontar este
corno la estimacioacuten de la
automaacutetica de la canti shyun umbral establecido de
tea uua directriiquest para la
142
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Capiacutetulo 7
CONCLUSIONES
La meacutetodologia propuesta en esta tesis para la reconstruccioacuten de objetos tridimensionales de forma libre posee un amplio dominio de aplicacioacuten permitiendo ajustar superficies inshydependientemente de la complejidad topoloacutegica de los objetos originales La combinacioacuten de teacutecnicas heuriacutesticas con teoriacuteas matemaacuteticas como la topologiacutea y la geometriacutea diferencial representa la robustez en la eficacia de las soluciones propuestas para las diferentes etapas del proceso de reconstruccioacuten 3-D que se desarrolla en esta tesis
Se han propuesto modificaciones a los meacutetodos tradicionales para realizar cada una de las tashyreas de las etapas del proceso de reconstruccioacuten de superficies de objetos 3-D En conjunto los meacutetodos sugieren una nueva forma de enfrentar la problemaacutetica del proceso de reconstruccioacuten aumentando la robustez y automatizando algunos procedimientos que tradicionalmente han sido realizados manualmente
El conjunto de meacutetodos de las etapas modificadas lo constituyen los procedimientos de reshygistro integracioacuten y ajuste La metodologiacutea inicia con un conjunto de imaacutegenes de rango parciales del objeto digitalizado las cuales se llevan a un mismo sistema de coordenadas mediante un proceso robusto de registro incorporando algoritmos geneacuteticos al procedimienshyto claacutesico basado en distancias El meacutetodo de registro permite obtener mejores resultados respecto a los meacutetodos claacutesicos cuando las condiciones relacionadas con la alineacioacuten inicial son maacutes complejas Es decir es maacutes robusto que los metodos ICP e ICP+N con respecto al error final de registro cuando las imaacutegenes a registrar poseen un alineamiento inicial con aacutengulos de rotacioacuten entre los 20deg y 55deg lo que permite registrar imaacutegenes sin un proceso de pre-alineamiento detallado
Posteriormente se aplica el meacutetodo de correccioacuten de anomaliacuteas topoloacutegicas asociadas con
139
ausencia de informacioacuten que permite corregir en el proceso ue auquisicioacuten ue las imaacutegelles propias del objeto El meacutetodo realiza la eorreel el uso de la geometriacutea diferencial para el anaacutelisi las curvas forrnauas por el conjunto ue aristas discontinuidades lo que permite una clasifi a que son caracteriacutesticas in ficacioacuten se Jasa en la se realiza nHdiante un procrso iterativ alrededor de los hu informacioacuten La ear superficie con punto tamauumlo del vecinuar que la region reconst local del meacutetodo per que representen glob
Fillalrnente el conjull de parches de superfi ti vas para evi tar el ef establecer las regiones un procedimiento de di~ rectangular es estimado espec tral ue mallas util presentaciones rcctangul superficie Esto permite
Limitaciones
El meacutetodo propuesto de re bargo el costo cornputacioll ICP+AG que en los otros m acarrean las soluciones basa implementacioacuten paralela de encontrar la solucioacuten
En el meacutetodo de correcioacuten el
~sJ bull
objetos tridimensionales o ajustar superficies inshyales La combinacioacuten de
geometriacutea diferencial a las diferentes etapas
ar cada una de las ta-3-D En conjunto los so de reconstruccioacuten adicionalmente han
cedimientos de reshymaacutegenes de rango
de coordenadas s al procedimienshyjores resultados lineacioacuten inicial
un proceso de
ausencia de informacioacuten que permite corregir automaacuteticamente discontinuidades generadas en el proceso de adquisicioacuten de las imaacutegenes diferenciando eacutestas de las discontinuidades propias del objeto El meacutetodo realiza la correccioacuten iniciando con una clasificacioacuten basada en el uso de la geometriacutea diferencial para el anaacutelisis de las caracteriacutesticas geomeacutetricas que poseen las curvas formadas por el conjunto de aristas que conectan los veacutertices de los bordes de las discontinuidades lo que permite una clasificacioacuten precisa de las anomaliacuteas topoloacutegicas debido a que son caracteriacutesticas invariantes a transformaciones espaciales Especiacuteficamente la clasishyficacioacuten se basa en la estimacioacuten de una medida de la variacioacuten de la torsioacuten y la correccioacuten se realiza mediante el uso de interpolantes locales de funciones de base radial estimados en un proceso iterativo que permite reproducir las caracteriacutesticas topoloacutegicas de las regiones alrededor de los huecos clasificados como anomaliacuteas topoloacutegicas asociadas con aus(ncia de informacioacuten La caracteriacutestica iterativa del meacutetodo minimiza el error de la nueva regioacuten de superficie con puntos geomeacutetricamente representativos alrededor del hueco aumentando el tamantildeo del vecindario en cada iteracioacuten hasta alcanzar un umbral de error lo que permite que la region reconstruida se integre suavemente con la superficie original La caracteriacutestica local del meacutetodo permite una correccioacuten eficiente debido a que evita calcular interpolantes que representen globalmente la superficie lo que reduce el costo computacional
Finalmente el conjunto de datos registrados y corregidos son ajustados mediante una red de parches de superficies NURBS Cada parche es optimizado mediante estrategias evolushytivas para evitar el efecto de suavizado excesivo que incorpora el ajuste con 1 URBS Para establecer las regiones en las cuales cada parche de superficie NUllDS se ajusta se realiza un procedimiento de divisioacuten de la malla original en segmentos rectangulares cada segmento rectangular es estimado mediante la conexioacuten de puntos criacuteticos generados mediante anaacutelisis espectral de mallas utilizando la teoriacutea de Morse La teoriacutea de Nlorse permite generar reshypresentaciones rectangulares no ambiguas sin importar la complejidad de la topologiacutea de la superficie Esto permite la aplicacioacuten del meacutetodo sobre un dominio amplio de objetos
Limi taciones
El meacutetodo propuesto de registro mostroacute ser robusto frente a procedimientos claacutesicos sin emshybargo el costo computacional relacionado con el tiempo asociado a la ejecucioacuten es mayor en el ICP+AG que en los otros meacutetodos debido a los costos computacionales que tradicionalmente acarrean las soluciones basadas en AG Sin embargo este puede ser disminuido mediante la implementacioacuten paralela del algoritmo lo que permitiriacutea reducir el tiempo necesario para encontrar la solucioacuten
En el meacutetodo de correcioacuten de huecos detecta automaacutetica y correctamente anomaliacuteas en la
140
CONCLUSIONES
superficie de los objetos sin embargo no todos los diferentes tipos de huecos son posibles de preservar Los huecos que tienen forma de isla hacen que d algoritmo falle en la etapa de deteccioacuten esto debido a que no es sencilla la clasificacioacuten de un borde externo como una anomaliacutea La adicioacuten para el tratamiento de este tipo de huecos constituye una futura directriz de trabajo Adicionalmente los huecos ubicados en regiones con caracteriacutesticas planas hace que en el meacutetodo propuesto se presente muy poca variacioacuten de la medida de la torsioacuten lo que evita la deteccioacuten y correccioacuten correcta de este tipo de huecos Es posible afrontar este problema relacionando la medida de la torsioacuten con caracteriacutesticas corno la estimacioacuten de la varianza de las normales de las aristas liacutemite
En el meacutetodo de ajuste de superficies no se realiza la determinacioacuten automaacutetica de la cantishydad de puntos criacuteticos necesarios para ajustar una superficie con un umbral establecido de error lo que constituye una lirniteacutelCioacuten dd meacutetodo propuesto y plantea una directriz para la realizacioacuten de trabajos futuros
141
-
CONCLUSIONES
10 todos los diferentes tipos de huecos son posibles ma de isla hacen que el algoritmo falle en la etapa ncilla la clasificacioacuten de un borde externo como una de este tipo de huecos constituye una futura directriz ubicados en regiones con caracteriacutesticas planas hace e muy poca variiexcliexclrioacuten de la medida de la torsioacuten lo ~~ Es posible afrontar este
corno la estimacioacuten de la
automaacutetica de la canti shyun umbral establecido de
tea uua directriiquest para la
142
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[8 [ Bertram M Tricoche X and Bagen B Adaptive smooth scattered-data approximation for largc-scalc terrain visualization EUROCRAPHICS IEEE TCVC Symposium 011
Visualization 2003
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t i ti Dlais G Rcgistcring multivicw data to Pattern Analysis and Machine Intelligen
1 Qiexcliexcliexcl~- [151 Boissonnat J and ea7 shy
j16] Doulanger P Tri
rJ7] Boyer E and P regular point sel
[l81 Bremer P Ed ls fundions on tria
1191Brou P Using tmiddot Robotics 3(4) 89
l20] Brunnstrom K l 1996
[2 LI Campbe11 R A s Comp1lter Viswn
[22 [ Carr J Beatson RccoTlstruction a Fiurne editor SI Press ACM SI
Cben C Ransac-l 11y overlapping ra
21 1999
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11
I
3selis M A new voronoi-based surface reconstruction 2(Annual Conference Series)415-421 1998
nomeomorphic surshytational Geometry
tions Technical
ttered tri variate
1 error bounds
rinity College
o ball-pivoting and Cornpushy
proximation nposimn on
ications 1
f01 three-
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iacute161 Boulanger P Triangulating trimmed nurbs surfaces Curve and S~Lrfacc Design 2000
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[181 Bremer P Edelsbrunner H and Pascucci V Hamann B A topological hierarchy for functions on triangulated surfaces TVCG 10 4 385396 2004
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[2 LI Campbell R A survey of free-form object representation and recognition tedmiques Computcr Vision and Image Understanding 81 200l
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12JI Chen C Ransac-oased darees A new approaeh to fast autornatic registration of partiacuteashylly overlapping mnge images IEEE Trans Pattern Analysis and Machine Intelligence 21 1999
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101 Sehwetlick H Lcast squares
l~ ) 0 1 Silva L Bellon O and Boyer 1lt faee inter llctrat ion measurc anrl Anal da h nLell 27(5)762shy
[ luumlU] Silv bull
POI)
[102] St AlI
[1031 Stl
rlU4] Tan tiOIl
105] Tizia verli
1lH ij Turk 94
lU71Turk Comp
[lO8] Verspr form 1
~ l( 191 Weber critical
~ lluuml] Wcik S
bono pa
l u l Weillcrt nical rep
~sJ bull
objetos tridimensionales o ajustar superficies inshyales La combinacioacuten de
geometriacutea diferencial a las diferentes etapas
ar cada una de las ta-3-D En conjunto los so de reconstruccioacuten adicionalmente han
cedimientos de reshymaacutegenes de rango
de coordenadas s al procedimienshyjores resultados lineacioacuten inicial
un proceso de
ausencia de informacioacuten que permite corregir automaacuteticamente discontinuidades generadas en el proceso de adquisicioacuten de las imaacutegenes diferenciando eacutestas de las discontinuidades propias del objeto El meacutetodo realiza la correccioacuten iniciando con una clasificacioacuten basada en el uso de la geometriacutea diferencial para el anaacutelisis de las caracteriacutesticas geomeacutetricas que poseen las curvas formadas por el conjunto de aristas que conectan los veacutertices de los bordes de las discontinuidades lo que permite una clasificacioacuten precisa de las anomaliacuteas topoloacutegicas debido a que son caracteriacutesticas invariantes a transformaciones espaciales Especiacuteficamente la clasishyficacioacuten se basa en la estimacioacuten de una medida de la variacioacuten de la torsioacuten y la correccioacuten se realiza mediante el uso de interpolantes locales de funciones de base radial estimados en un proceso iterativo que permite reproducir las caracteriacutesticas topoloacutegicas de las regiones alrededor de los huecos clasificados como anomaliacuteas topoloacutegicas asociadas con aus(ncia de informacioacuten La caracteriacutestica iterativa del meacutetodo minimiza el error de la nueva regioacuten de superficie con puntos geomeacutetricamente representativos alrededor del hueco aumentando el tamantildeo del vecindario en cada iteracioacuten hasta alcanzar un umbral de error lo que permite que la region reconstruida se integre suavemente con la superficie original La caracteriacutestica local del meacutetodo permite una correccioacuten eficiente debido a que evita calcular interpolantes que representen globalmente la superficie lo que reduce el costo computacional
Finalmente el conjunto de datos registrados y corregidos son ajustados mediante una red de parches de superficies NURBS Cada parche es optimizado mediante estrategias evolushytivas para evitar el efecto de suavizado excesivo que incorpora el ajuste con 1 URBS Para establecer las regiones en las cuales cada parche de superficie NUllDS se ajusta se realiza un procedimiento de divisioacuten de la malla original en segmentos rectangulares cada segmento rectangular es estimado mediante la conexioacuten de puntos criacuteticos generados mediante anaacutelisis espectral de mallas utilizando la teoriacutea de Morse La teoriacutea de Nlorse permite generar reshypresentaciones rectangulares no ambiguas sin importar la complejidad de la topologiacutea de la superficie Esto permite la aplicacioacuten del meacutetodo sobre un dominio amplio de objetos
Limi taciones
El meacutetodo propuesto de registro mostroacute ser robusto frente a procedimientos claacutesicos sin emshybargo el costo computacional relacionado con el tiempo asociado a la ejecucioacuten es mayor en el ICP+AG que en los otros meacutetodos debido a los costos computacionales que tradicionalmente acarrean las soluciones basadas en AG Sin embargo este puede ser disminuido mediante la implementacioacuten paralela del algoritmo lo que permitiriacutea reducir el tiempo necesario para encontrar la solucioacuten
En el meacutetodo de correcioacuten de huecos detecta automaacutetica y correctamente anomaliacuteas en la
140
CONCLUSIONES
superficie de los objetos sin embargo no todos los diferentes tipos de huecos son posibles de preservar Los huecos que tienen forma de isla hacen que d algoritmo falle en la etapa de deteccioacuten esto debido a que no es sencilla la clasificacioacuten de un borde externo como una anomaliacutea La adicioacuten para el tratamiento de este tipo de huecos constituye una futura directriz de trabajo Adicionalmente los huecos ubicados en regiones con caracteriacutesticas planas hace que en el meacutetodo propuesto se presente muy poca variacioacuten de la medida de la torsioacuten lo que evita la deteccioacuten y correccioacuten correcta de este tipo de huecos Es posible afrontar este problema relacionando la medida de la torsioacuten con caracteriacutesticas corno la estimacioacuten de la varianza de las normales de las aristas liacutemite
En el meacutetodo de ajuste de superficies no se realiza la determinacioacuten automaacutetica de la cantishydad de puntos criacuteticos necesarios para ajustar una superficie con un umbral establecido de error lo que constituye una lirniteacutelCioacuten dd meacutetodo propuesto y plantea una directriz para la realizacioacuten de trabajos futuros
141
-
CONCLUSIONES
10 todos los diferentes tipos de huecos son posibles ma de isla hacen que el algoritmo falle en la etapa ncilla la clasificacioacuten de un borde externo como una de este tipo de huecos constituye una futura directriz ubicados en regiones con caracteriacutesticas planas hace e muy poca variiexcliexclrioacuten de la medida de la torsioacuten lo ~~ Es posible afrontar este
corno la estimacioacuten de la
automaacutetica de la canti shyun umbral establecido de
tea uua directriiquest para la
142
Referencias
[1] Amenta N Bern M and Kamvysselis 11 A new voronoi-based surface reconstruction algorithm Computer Graphics 32(Annual Conference Series)415-421 1998
[21 Amenta N Choi S Dey K and Leekha N A simple algorithm for homeomorphic surshyface reconstruction Proc 16th Annual ACM Symposium 011 Computational Geometry - Hong Kong 213-222 2000
[ ~3 1 Arge A Approximation of scattered data using smooth grid functions Technical Rcport STF33 A94003 SINTEF 1994
[4] Bajaj C Adaptive reconstruction of surfaces and scalar fields from scattered trivariate data 1995
[51 Bajaj C and Schikore D Topology preserving data simplification with error bounds Cornputers and Craphics 22(1) 3-12 1998
[6] Baxter B The interpolation theory oj radial basis junctions PhD thesis Trinity College University of Cambridge 1992
[71 Bernardini F Mittleman J Rushmeier B Silva c and Taubin G The ball-pivoting algorithm for surface reconstruction IEEE Transactions 011 Visualization and Compushyter GraphIcs 5(4)349-359 1999
[8 [ Bertram M Tricoche X and Bagen B Adaptive smooth scattered-data approximation for largc-scalc terrain visualization EUROCRAPHICS IEEE TCVC Symposium 011
Visualization 2003
[Sl l Besl P Active optical range irnaging sensors Machine Viiion and Applications 1 1988
1101 Desl P J The free-forrn surface rnatching provlern in rnachine msion or thTeeshydimensional scenes Academic Press San Diego 1990
REFERENCIAS
[111 Besl P J and YlcKay N D A method Pattem Anal Mach In te ll 14(2)239-25
[l] Blais F Review of 20 years of range sensor
13(1)2004
[L3] Blais G Registering multiview range da report rvIcGill University 1993
t i ti Dlais G Rcgistcring multivicw data to Pattern Analysis and Machine Intelligen
1 Qiexcliexcliexcl~- [151 Boissonnat J and ea7 shy
j16] Doulanger P Tri
rJ7] Boyer E and P regular point sel
[l81 Bremer P Ed ls fundions on tria
1191Brou P Using tmiddot Robotics 3(4) 89
l20] Brunnstrom K l 1996
[2 LI Campbe11 R A s Comp1lter Viswn
[22 [ Carr J Beatson RccoTlstruction a Fiurne editor SI Press ACM SI
Cben C Ransac-l 11y overlapping ra
21 1999
Chen F OVCrViC Opt Eng 39 200
11
I
3selis M A new voronoi-based surface reconstruction 2(Annual Conference Series)415-421 1998
nomeomorphic surshytational Geometry
tions Technical
ttered tri variate
1 error bounds
rinity College
o ball-pivoting and Cornpushy
proximation nposimn on
ications 1
f01 three-
REFERENCIAS
[ll] Besl P J and McKay N D A method for registration of 3-d shapes IEEE Trans Pattern Anal Mach Intell 14(2)239-256 1992
[121 Blais F Review of 20 years of mnge sensor development Joumal of Electronic Imaging 13(1)2004
[13] Blais G Registering multiview mnge data to create 3d computer objects Technical report McGill University 1993
IHI I3lais G Registering multiview data to create 3d computer objects IEEE Trans Pattcm Analysis and Machine Intelligence 17 1995
rFi] Boissonnat J and Cazals F Smooth surface reconstruction via natural neighbor intershypolation of distance functions Computational GeornetTY 22(1-3) 185-203 2002
iacute161 Boulanger P Triangulating trimmed nurbs surfaces Curve and S~Lrfacc Design 2000
r171 Boyer E and Petitjean So Curve amI surface reconstruction from regular and nonshyregular poiacutent sets pages 659-665 2000
[181 Bremer P Edelsbrunner H and Pascucci V Hamann B A topological hierarchy for functions on triangulated surfaces TVCG 10 4 385396 2004
[l ] Brou p Using the gaussian image to find the orientation of an object [nt Jonmal Robotics 3(4)89-1251983
[-iquestUj Brunnstrom K GeneLic algorithrns for frecforrn surface rnatching Technical report 1996
[2 LI Campbell R A survey of free-form object representation and recognition tedmiques Computcr Vision and Image Understanding 81 200l
jl 2] Carr Jo Beatson R Cherrie J Mitchell T Fright W McCallum B and Evans T Reconstruction and representation of 3d objects with radie basis functions In Eugcne Fiume editor SIGGRAPH 2001 Computer Graphics Proceedings pages 67-76 AC~I Press ACM SIGGRAPH 200l
12JI Chen C Ransac-oased darees A new approaeh to fast autornatic registration of partiacuteashylly overlapping mnge images IEEE Trans Pattern Analysis and Machine Intelligence 21 1999
1241 Chen F Overview of three-dirnensional shape rneasurernent using optical methods Opto Eng 39 2000
144
REFERENCIAS
[25] Chen S Object extraction from laser radar imagery Pattern Recognitiort 24 1991
[2h] Chen Y Object modeling by registration of multiple range images Jmage and Vision Computing 10 1992
[27J Chi-Fang 1 A new approach to high precision 3d measuring system Jmage Vision CompUting 17 1999
[2KJ Chow c Tsui H and Lee T Surface registration using a dynamic genetic algorithm Paltrm Recoynition 37(1)105-117 2004
l29J Chua C 3d free-form surface registration and object recognition International Journal oI Compllt er lIision 17 1996
[30] Cohen-Steiner D and Da F A greedy surface reconstruction algorithm Visual ComshypllteT 3113-146 H))4
[31 ] Cordero J and Parejo J CllTVaitJ illperficies pam modelado GeorneacutetTico Edicioacuten Alfa-Omega Espantildea 2004
[3 2J Cox Iv The numerical evaluation applications 10134- 139 1972
[33J Curless B ew methods for surface reconstruction from range Images Technical l1eport CSL-TI1-97-733 Stanford 1997
[HJ CurlCtiti B From range ticans to 3d models CompUteT Gmphici 33(4) 1()99
135] Curless B Tutorial overVleW of active vlslon techniques 2000 http wwwsiggraphorg
[36] Curless B and Levoy 111 A volumetric method for building complex models from range images CompUter Gmphici 30(Annual Confcrcncc Series)303-312 1996
ll7J Davis J ldarschner S Garr i and Levoy M Filling holes in complex surfaces using volumetric diffusion 2002
[38] De T and Goswami S Provable surface reconstruction from noisy samples CompUshytational Geornetry Theory and Application 35(1-2)124-141 2006
1391 Dong S Dremer P Garland M Paseucci V and Hart J Quadrangulating a mesh using laplacian eigenvectors Technical Repon UIUCDCS-R-2005-2583 2005
REFERENCIAS ~~~-------------------------
[4U] Dorai C and Jain A K COSIOS - Al JEtE Transactions on Paltem Analysil
1997
ln] Duchon J Spline minimizing rotation- trudiUe Th eory 01 Functiofls 01 sevcml
1121Erk lv1 and Hoppe H Autolllatic n C01I
logical typc ACM-O-89791-U IAacute--shy
~ 1 3 1
[111 EdcJbrunncr
for piccewis
on Gmphirs
4cJ1 Farin G CUT
hers Ine San
[lh l Faugucras O Juumal oI Ro
[471
[l ) GocEn G and iIlformatioll pa
[49) Gonzalf7 A Ad cas de luz estru
IjO1 Gopi M Krish locali iquestcd ddauu
[Si] Greenspan lV ar 161-168200l
[52] Gregorski B Han data points ProCl
1 -) -) 1 Ilnralick 11 Potie pection and NIeasu
REFERENCIAS
lser radar imagery Pattem Recognition 24 1991
ftration of multiple range images Imag e and Visl0n
high precision 3d measuring system Image Vision
face registration ~- uetic algorithm
ional J0((rnal
Visual Comshy
Edicioacuten
range
usmg
REFERENCIAS
140] Dorai C and Jain A K cosvros - A representation scheme for 3d free-form objects IEEE Tmnsactions 071 Pattern Analysis and Machin e Intelligence 19(10)1115-1130 1997
[4 1] Duchon J Spline minimizing rotation-invariant seminorms in sobo ley spaces Consshytructive Theory of Punctions of several Variables 57185-100 1997
1121 Eek M and Hoppc H Automatic rceonstruetioll of o-splillc surfacc of aroitrary toposhylogical type ACM-O-89191-141-4 8 1996
[4J j Edelsbrunner H Harer J and Zomorodians A Hierarchical morse-smale complexes for piecewise linear 2-manifolds Discrete Computo Geom 3087-107 2003
[U ] Edclsbrunncr H and Muckc E Thrcc-dimcnsional alpha shapcs ACM Transacfions 071 Graphics 13(1)43-72 1994
45 J Farin G Ourves and s(trfaces for CA G D a practical guide Morgan Kaufmann Publisshyhers Inc San Francisco CA USA 2002
r lfi] Faugueras O The representation recognition and locating of 3d objects Internatlonal Journal of Robotics Research 5 1986
[47] Feldmar J Rigid affine and locally affine registration of free-from surfaces International Journal of Computer Vision 18 1996
~48j Godin G and Rioux M Three dimensional registration using range and intensity information pagc 2350 1994
149] Gonzalez A Adquisicioacuten y modelado tridimensional en visioacuten artificial mediante teacutecnishycas de luz estructurada PhD thesis UPM 1998
[501 Gopi M Krishnan S and Silva C Surface reconstruction based on lower dimensional locali~ed dclaunay triangulation volurne HJ pagcs C467-C47t) 2000
[51] Greenspan M and Godin G A lIearest neigboour metbod for efficiellt lepo pages 161- 168 2001
[521 Gregorski B Hamann B and Joy D Reconstruction of b-spline surfaces from scattered data points Proceedings of Computer Graphics International 2000
I middot~)JI I-Iaralick TI Pose estimation frorn corresponding point data Machine Vision j(JT lnsshypection and Measurement 1989
146
REFERENCIAS
[J4] Hartigan J A and Wong M A A k-means clustering algorithm Applied Statistics 2~100-10~ 1979
I-iexcljl Hartley rr and Zisserman A Multiple view geometry in computer visiono Cambridge University second edition 2003
[5UI Hilton A On reliable surface reconstruction from multiple range images Technical report U ni versi ty of Surrey 1995
[571 Hoppe H SUrface reconstruction from unorganized points PhD thesis VIashington University 1994
[1f1 Hoppe H Derose T Duchamp T Mcdonald J and Stuetzle W Mesh optimization 1993 httpwwwsiggraphorg
[591 Hom D Closcd-form solution of oricntation using unit quartcrnions Joumal of Optica Society of America 4 1987
[GU] Hraacutedek J IIethods of surface reconstruction from scattered data Technical report Deshypartment of Computer Science and Engineering University of Aiacuteest Bohemiain Pilsen 2003
[61 j Jarvis R A perspective on range finding techniques for computer visiono IEEE Trans Pattern Anal Mach Intell 5 1983
[621 Johnson A Using spin images for efficient object recognition in cluttered 3d scenes IEEE Trans Pattern Anal Mach Intell 21 1999
[u31 Johnson A Kang S Registration and integration of textured 3-d data pages 234-241 1997
[64] Jung H A new parameterisation method for nurbs surface interpolation Advaneed ManUjacturing Technology 16 2000
[liFi [ Krishnamurthy V and Levoy M Fitting smooth surfaces to dense polygon meshes In SIGGRAPH 96 Conference Proceedings AGM SIGGRAPH Addison Wesley 1996
[60] Laurent P Optimization of a nurbs representation CompUter Aided Design 25 1999
[671 Levin D Mesh-independent surface interpolation Tedmical report Tel Aviv 69978 Israel 1999
[(j8] Loop C Smooth spline surfaces over irregular meshes Apple Computer Ine 1994
REFERENCIAS
Lorensen W and Cline H f Iarching eu algorithrn In SIGGRAPH tJ7 Procecdiiexcl gmphics and int emctivf l cchniqu es voh 1987 ACM Prc
[70] Lounsb ry M( Transactions
[7 ll Lozano E r
report Dep tario de ~la
l721Lucches0 Lj Pattern Aniexcl
iexcl-3] Marshal A
[7 l] Masuda T Computer
[ jI rlontegran 2004
17G Ivlyers A range dato Science 1
177] Ni X G structurc
[71Ni X G l
volumetri
[791 Park 1 unorgan
I (JI Panl Dil New Yo
181 1Peters
Plineiexcl [ 21 Piegl L
REFERENCIAS
A k-means clustering algorithm Applied Statistics
lltiple view geometry in computer visiono Carnbridge
~construction from multiple range images Technical 5
n fmm unorganized points PhD thesis Washington
r Mcdonald J ~l Stuetzle W Mesh optimization
Joumal of Optim
a Technical report DeshyTest Bohemiain Pilsen
IEEE Trans
pages 234-241
Advanced
v 69978
REFERENCIAS
[b9] Lorensen W and Cline H Marching cubes A high resolution 3d surface construction algorithrn In SIGGRAPH 87 Pmceedings oI the 14th anmwl conference on Computa graphics and interactive techniques volume 21 pages 163-169 New York NY USA 1987 AC1VI Press
170] Lounsbery M Multiresolution analysis for surfaces of arbitrary topological type ACM Transactions on Graphics 1998
[711 Lozano E Toacutepicos en reconocimiento de patrones funciones de base radial Technical report Departamento de tIatemaacuteticas Universidad de Puerto Rico Recinto Universishytario de Mayaguumlez 2002
[72] Lucchese L A frequency domain technique for range data registration IEEE Trans Pattern Analysis and Machine Intelligence 24 2002
[73] Marshal A Computer vision models and inspection World Scientific 1993
[711 Masuaa T A robust method for registration ana segmentation of rnultipll range irnages Comp1tter Vision and Image Understanding 61 1995
[75] Montegranario H Reconstruccioacuten de superficies mediante funciones de base radial 2004
[7(j] Myers A Introductory literature review surface reconstruction from three dimensional range data Technical report The University of Adclaidey Department of Computer Science 1999
[77] Ni X Garland M and Hart J Fair morse functions for extracting the topological structurc of a surface mesh ACM Trans Gmph 23(3)613-622 2004
[781 Ni X Garland M and Hart J Simplification and repair of polygonal models using volumetric techniques Proc SIGGRAPH TOG 233613-622 2004
[791 Park l Lee S and Yun 1 Constructing nurbs surface model from scaUered and unorganized range data 3dim 000312 1999
[80] Paul Dicrckx Curve and surface fitting with splines Oxford Univcrsity Press Inc New York Y USA 1993
[811 Peters J Constructing el surfaces of arbitrary topology using bicuadric and bicubic splines Desigruacuteng FaJr Curves and Surfaces 277-293 1994
IX2 J Piegl L and Tiller W The NURBS book Springer-Verlag London UK 1995
REFERENCIAS
[~3 ] Pito R Mesh integration based on comeasurements Proceedings ofICP 2 1996
[84] Pratt M J Geometric methods lor computer-aided designo
[85] Pulli K Surface reconstruction and display from range and color data PhD thesis University of Washington 1997
[86] Pulli K Multiview registration for large data sets 1999
[871 Randrianarivony M and Brunnett G Parallel implementation of surface reconstruction from noisy samples 2002 SFB preprint 02-16 Technische Universitat Chemnitz
[881 Reuter P Tobor L Schlick C and Dedieu S Point-based modelling and rendering u~ing radial ba- is functions In GRAPHTE 03 Proceedings of the 1st infernafional conference on Comp1der gmphics and interactive techniques in A ustralasia and South East Asia pages 111-118 New York NY USA 2003 ACM Press
[ 91 Rioux M a nd Domey J Lateral effect photodiode a new technique to obtain position signals Opto Eng 21(20) 1982
[no] Robertson C and Fisher R Parallel evolutionary registration of range data CorriquestplLter Vislon and mage Under-standing pages 39-50 2002
[91 ] Rusinkiewiczs S Real-time acquisition and rendering ol large 3D models PhD thesis Stanforu University 2001
[921 Saacutenchez F Reconstruccioacuten tridimensional de escenas con iluminacioacuten laacuteser aplicacioshynes a la fotogrametriacutea industrial PhD thesis UPM 2000
[931 Sappa A Range image registration by using an eugebaseu representation 200l httpwwwsiggraphorg
[941 Savchenko V Paseo V Okunev O and Kunni T Function representation of solids reconstructed form scattered surface points and contours Computer Graphics Fornm 14 1995
[9S] Schaback R caracterization and eonstruction of radial basis functions in multivariate approximaLion anu applicatioll Camurigde University PTess Nashville 2002
[9(-iJ Schut7c T Diskr-efe quadratmittelapproxaacutenation durch splines mit freien knoten PhD thesis i-IathemaLicx faculty 1998
1 ~)7 1 Schwartz J Iuentihcation of partially obscureu objects in two anu thrce uirnens ions by matching noisy characteristic curves nt Journal Robotics 6 1987
149
REFERENCIAS
101 Sehwetlick H Lcast squares
l~ ) 0 1 Silva L Bellon O and Boyer 1lt faee inter llctrat ion measurc anrl Anal da h nLell 27(5)762shy
[ luumlU] Silv bull
POI)
[102] St AlI
[1031 Stl
rlU4] Tan tiOIl
105] Tizia verli
1lH ij Turk 94
lU71Turk Comp
[lO8] Verspr form 1
~ l( 191 Weber critical
~ lluuml] Wcik S
bono pa
l u l Weillcrt nical rep
CONCLUSIONES
superficie de los objetos sin embargo no todos los diferentes tipos de huecos son posibles de preservar Los huecos que tienen forma de isla hacen que d algoritmo falle en la etapa de deteccioacuten esto debido a que no es sencilla la clasificacioacuten de un borde externo como una anomaliacutea La adicioacuten para el tratamiento de este tipo de huecos constituye una futura directriz de trabajo Adicionalmente los huecos ubicados en regiones con caracteriacutesticas planas hace que en el meacutetodo propuesto se presente muy poca variacioacuten de la medida de la torsioacuten lo que evita la deteccioacuten y correccioacuten correcta de este tipo de huecos Es posible afrontar este problema relacionando la medida de la torsioacuten con caracteriacutesticas corno la estimacioacuten de la varianza de las normales de las aristas liacutemite
En el meacutetodo de ajuste de superficies no se realiza la determinacioacuten automaacutetica de la cantishydad de puntos criacuteticos necesarios para ajustar una superficie con un umbral establecido de error lo que constituye una lirniteacutelCioacuten dd meacutetodo propuesto y plantea una directriz para la realizacioacuten de trabajos futuros
141
-
CONCLUSIONES
10 todos los diferentes tipos de huecos son posibles ma de isla hacen que el algoritmo falle en la etapa ncilla la clasificacioacuten de un borde externo como una de este tipo de huecos constituye una futura directriz ubicados en regiones con caracteriacutesticas planas hace e muy poca variiexcliexclrioacuten de la medida de la torsioacuten lo ~~ Es posible afrontar este
corno la estimacioacuten de la
automaacutetica de la canti shyun umbral establecido de
tea uua directriiquest para la
142
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[l] Blais F Review of 20 years of range sensor
13(1)2004
[L3] Blais G Registering multiview range da report rvIcGill University 1993
t i ti Dlais G Rcgistcring multivicw data to Pattern Analysis and Machine Intelligen
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rJ7] Boyer E and P regular point sel
[l81 Bremer P Ed ls fundions on tria
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[2 LI Campbe11 R A s Comp1lter Viswn
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Cben C Ransac-l 11y overlapping ra
21 1999
Chen F OVCrViC Opt Eng 39 200
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nomeomorphic surshytational Geometry
tions Technical
ttered tri variate
1 error bounds
rinity College
o ball-pivoting and Cornpushy
proximation nposimn on
ications 1
f01 three-
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[ll] Besl P J and McKay N D A method for registration of 3-d shapes IEEE Trans Pattern Anal Mach Intell 14(2)239-256 1992
[121 Blais F Review of 20 years of mnge sensor development Joumal of Electronic Imaging 13(1)2004
[13] Blais G Registering multiview mnge data to create 3d computer objects Technical report McGill University 1993
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rFi] Boissonnat J and Cazals F Smooth surface reconstruction via natural neighbor intershypolation of distance functions Computational GeornetTY 22(1-3) 185-203 2002
iacute161 Boulanger P Triangulating trimmed nurbs surfaces Curve and S~Lrfacc Design 2000
r171 Boyer E and Petitjean So Curve amI surface reconstruction from regular and nonshyregular poiacutent sets pages 659-665 2000
[181 Bremer P Edelsbrunner H and Pascucci V Hamann B A topological hierarchy for functions on triangulated surfaces TVCG 10 4 385396 2004
[l ] Brou p Using the gaussian image to find the orientation of an object [nt Jonmal Robotics 3(4)89-1251983
[-iquestUj Brunnstrom K GeneLic algorithrns for frecforrn surface rnatching Technical report 1996
[2 LI Campbell R A survey of free-form object representation and recognition tedmiques Computcr Vision and Image Understanding 81 200l
jl 2] Carr Jo Beatson R Cherrie J Mitchell T Fright W McCallum B and Evans T Reconstruction and representation of 3d objects with radie basis functions In Eugcne Fiume editor SIGGRAPH 2001 Computer Graphics Proceedings pages 67-76 AC~I Press ACM SIGGRAPH 200l
12JI Chen C Ransac-oased darees A new approaeh to fast autornatic registration of partiacuteashylly overlapping mnge images IEEE Trans Pattern Analysis and Machine Intelligence 21 1999
1241 Chen F Overview of three-dirnensional shape rneasurernent using optical methods Opto Eng 39 2000
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[25] Chen S Object extraction from laser radar imagery Pattern Recognitiort 24 1991
[2h] Chen Y Object modeling by registration of multiple range images Jmage and Vision Computing 10 1992
[27J Chi-Fang 1 A new approach to high precision 3d measuring system Jmage Vision CompUting 17 1999
[2KJ Chow c Tsui H and Lee T Surface registration using a dynamic genetic algorithm Paltrm Recoynition 37(1)105-117 2004
l29J Chua C 3d free-form surface registration and object recognition International Journal oI Compllt er lIision 17 1996
[30] Cohen-Steiner D and Da F A greedy surface reconstruction algorithm Visual ComshypllteT 3113-146 H))4
[31 ] Cordero J and Parejo J CllTVaitJ illperficies pam modelado GeorneacutetTico Edicioacuten Alfa-Omega Espantildea 2004
[3 2J Cox Iv The numerical evaluation applications 10134- 139 1972
[33J Curless B ew methods for surface reconstruction from range Images Technical l1eport CSL-TI1-97-733 Stanford 1997
[HJ CurlCtiti B From range ticans to 3d models CompUteT Gmphici 33(4) 1()99
135] Curless B Tutorial overVleW of active vlslon techniques 2000 http wwwsiggraphorg
[36] Curless B and Levoy 111 A volumetric method for building complex models from range images CompUter Gmphici 30(Annual Confcrcncc Series)303-312 1996
ll7J Davis J ldarschner S Garr i and Levoy M Filling holes in complex surfaces using volumetric diffusion 2002
[38] De T and Goswami S Provable surface reconstruction from noisy samples CompUshytational Geornetry Theory and Application 35(1-2)124-141 2006
1391 Dong S Dremer P Garland M Paseucci V and Hart J Quadrangulating a mesh using laplacian eigenvectors Technical Repon UIUCDCS-R-2005-2583 2005
REFERENCIAS ~~~-------------------------
[4U] Dorai C and Jain A K COSIOS - Al JEtE Transactions on Paltem Analysil
1997
ln] Duchon J Spline minimizing rotation- trudiUe Th eory 01 Functiofls 01 sevcml
1121Erk lv1 and Hoppe H Autolllatic n C01I
logical typc ACM-O-89791-U IAacute--shy
~ 1 3 1
[111 EdcJbrunncr
for piccewis
on Gmphirs
4cJ1 Farin G CUT
hers Ine San
[lh l Faugucras O Juumal oI Ro
[471
[l ) GocEn G and iIlformatioll pa
[49) Gonzalf7 A Ad cas de luz estru
IjO1 Gopi M Krish locali iquestcd ddauu
[Si] Greenspan lV ar 161-168200l
[52] Gregorski B Han data points ProCl
1 -) -) 1 Ilnralick 11 Potie pection and NIeasu
REFERENCIAS
lser radar imagery Pattem Recognition 24 1991
ftration of multiple range images Imag e and Visl0n
high precision 3d measuring system Image Vision
face registration ~- uetic algorithm
ional J0((rnal
Visual Comshy
Edicioacuten
range
usmg
REFERENCIAS
140] Dorai C and Jain A K cosvros - A representation scheme for 3d free-form objects IEEE Tmnsactions 071 Pattern Analysis and Machin e Intelligence 19(10)1115-1130 1997
[4 1] Duchon J Spline minimizing rotation-invariant seminorms in sobo ley spaces Consshytructive Theory of Punctions of several Variables 57185-100 1997
1121 Eek M and Hoppc H Automatic rceonstruetioll of o-splillc surfacc of aroitrary toposhylogical type ACM-O-89191-141-4 8 1996
[4J j Edelsbrunner H Harer J and Zomorodians A Hierarchical morse-smale complexes for piecewise linear 2-manifolds Discrete Computo Geom 3087-107 2003
[U ] Edclsbrunncr H and Muckc E Thrcc-dimcnsional alpha shapcs ACM Transacfions 071 Graphics 13(1)43-72 1994
45 J Farin G Ourves and s(trfaces for CA G D a practical guide Morgan Kaufmann Publisshyhers Inc San Francisco CA USA 2002
r lfi] Faugueras O The representation recognition and locating of 3d objects Internatlonal Journal of Robotics Research 5 1986
[47] Feldmar J Rigid affine and locally affine registration of free-from surfaces International Journal of Computer Vision 18 1996
~48j Godin G and Rioux M Three dimensional registration using range and intensity information pagc 2350 1994
149] Gonzalez A Adquisicioacuten y modelado tridimensional en visioacuten artificial mediante teacutecnishycas de luz estructurada PhD thesis UPM 1998
[501 Gopi M Krishnan S and Silva C Surface reconstruction based on lower dimensional locali~ed dclaunay triangulation volurne HJ pagcs C467-C47t) 2000
[51] Greenspan M and Godin G A lIearest neigboour metbod for efficiellt lepo pages 161- 168 2001
[521 Gregorski B Hamann B and Joy D Reconstruction of b-spline surfaces from scattered data points Proceedings of Computer Graphics International 2000
I middot~)JI I-Iaralick TI Pose estimation frorn corresponding point data Machine Vision j(JT lnsshypection and Measurement 1989
146
REFERENCIAS
[J4] Hartigan J A and Wong M A A k-means clustering algorithm Applied Statistics 2~100-10~ 1979
I-iexcljl Hartley rr and Zisserman A Multiple view geometry in computer visiono Cambridge University second edition 2003
[5UI Hilton A On reliable surface reconstruction from multiple range images Technical report U ni versi ty of Surrey 1995
[571 Hoppe H SUrface reconstruction from unorganized points PhD thesis VIashington University 1994
[1f1 Hoppe H Derose T Duchamp T Mcdonald J and Stuetzle W Mesh optimization 1993 httpwwwsiggraphorg
[591 Hom D Closcd-form solution of oricntation using unit quartcrnions Joumal of Optica Society of America 4 1987
[GU] Hraacutedek J IIethods of surface reconstruction from scattered data Technical report Deshypartment of Computer Science and Engineering University of Aiacuteest Bohemiain Pilsen 2003
[61 j Jarvis R A perspective on range finding techniques for computer visiono IEEE Trans Pattern Anal Mach Intell 5 1983
[621 Johnson A Using spin images for efficient object recognition in cluttered 3d scenes IEEE Trans Pattern Anal Mach Intell 21 1999
[u31 Johnson A Kang S Registration and integration of textured 3-d data pages 234-241 1997
[64] Jung H A new parameterisation method for nurbs surface interpolation Advaneed ManUjacturing Technology 16 2000
[liFi [ Krishnamurthy V and Levoy M Fitting smooth surfaces to dense polygon meshes In SIGGRAPH 96 Conference Proceedings AGM SIGGRAPH Addison Wesley 1996
[60] Laurent P Optimization of a nurbs representation CompUter Aided Design 25 1999
[671 Levin D Mesh-independent surface interpolation Tedmical report Tel Aviv 69978 Israel 1999
[(j8] Loop C Smooth spline surfaces over irregular meshes Apple Computer Ine 1994
REFERENCIAS
Lorensen W and Cline H f Iarching eu algorithrn In SIGGRAPH tJ7 Procecdiiexcl gmphics and int emctivf l cchniqu es voh 1987 ACM Prc
[70] Lounsb ry M( Transactions
[7 ll Lozano E r
report Dep tario de ~la
l721Lucches0 Lj Pattern Aniexcl
iexcl-3] Marshal A
[7 l] Masuda T Computer
[ jI rlontegran 2004
17G Ivlyers A range dato Science 1
177] Ni X G structurc
[71Ni X G l
volumetri
[791 Park 1 unorgan
I (JI Panl Dil New Yo
181 1Peters
Plineiexcl [ 21 Piegl L
REFERENCIAS
A k-means clustering algorithm Applied Statistics
lltiple view geometry in computer visiono Carnbridge
~construction from multiple range images Technical 5
n fmm unorganized points PhD thesis Washington
r Mcdonald J ~l Stuetzle W Mesh optimization
Joumal of Optim
a Technical report DeshyTest Bohemiain Pilsen
IEEE Trans
pages 234-241
Advanced
v 69978
REFERENCIAS
[b9] Lorensen W and Cline H Marching cubes A high resolution 3d surface construction algorithrn In SIGGRAPH 87 Pmceedings oI the 14th anmwl conference on Computa graphics and interactive techniques volume 21 pages 163-169 New York NY USA 1987 AC1VI Press
170] Lounsbery M Multiresolution analysis for surfaces of arbitrary topological type ACM Transactions on Graphics 1998
[711 Lozano E Toacutepicos en reconocimiento de patrones funciones de base radial Technical report Departamento de tIatemaacuteticas Universidad de Puerto Rico Recinto Universishytario de Mayaguumlez 2002
[72] Lucchese L A frequency domain technique for range data registration IEEE Trans Pattern Analysis and Machine Intelligence 24 2002
[73] Marshal A Computer vision models and inspection World Scientific 1993
[711 Masuaa T A robust method for registration ana segmentation of rnultipll range irnages Comp1tter Vision and Image Understanding 61 1995
[75] Montegranario H Reconstruccioacuten de superficies mediante funciones de base radial 2004
[7(j] Myers A Introductory literature review surface reconstruction from three dimensional range data Technical report The University of Adclaidey Department of Computer Science 1999
[77] Ni X Garland M and Hart J Fair morse functions for extracting the topological structurc of a surface mesh ACM Trans Gmph 23(3)613-622 2004
[781 Ni X Garland M and Hart J Simplification and repair of polygonal models using volumetric techniques Proc SIGGRAPH TOG 233613-622 2004
[791 Park l Lee S and Yun 1 Constructing nurbs surface model from scaUered and unorganized range data 3dim 000312 1999
[80] Paul Dicrckx Curve and surface fitting with splines Oxford Univcrsity Press Inc New York Y USA 1993
[811 Peters J Constructing el surfaces of arbitrary topology using bicuadric and bicubic splines Desigruacuteng FaJr Curves and Surfaces 277-293 1994
IX2 J Piegl L and Tiller W The NURBS book Springer-Verlag London UK 1995
REFERENCIAS
[~3 ] Pito R Mesh integration based on comeasurements Proceedings ofICP 2 1996
[84] Pratt M J Geometric methods lor computer-aided designo
[85] Pulli K Surface reconstruction and display from range and color data PhD thesis University of Washington 1997
[86] Pulli K Multiview registration for large data sets 1999
[871 Randrianarivony M and Brunnett G Parallel implementation of surface reconstruction from noisy samples 2002 SFB preprint 02-16 Technische Universitat Chemnitz
[881 Reuter P Tobor L Schlick C and Dedieu S Point-based modelling and rendering u~ing radial ba- is functions In GRAPHTE 03 Proceedings of the 1st infernafional conference on Comp1der gmphics and interactive techniques in A ustralasia and South East Asia pages 111-118 New York NY USA 2003 ACM Press
[ 91 Rioux M a nd Domey J Lateral effect photodiode a new technique to obtain position signals Opto Eng 21(20) 1982
[no] Robertson C and Fisher R Parallel evolutionary registration of range data CorriquestplLter Vislon and mage Under-standing pages 39-50 2002
[91 ] Rusinkiewiczs S Real-time acquisition and rendering ol large 3D models PhD thesis Stanforu University 2001
[921 Saacutenchez F Reconstruccioacuten tridimensional de escenas con iluminacioacuten laacuteser aplicacioshynes a la fotogrametriacutea industrial PhD thesis UPM 2000
[931 Sappa A Range image registration by using an eugebaseu representation 200l httpwwwsiggraphorg
[941 Savchenko V Paseo V Okunev O and Kunni T Function representation of solids reconstructed form scattered surface points and contours Computer Graphics Fornm 14 1995
[9S] Schaback R caracterization and eonstruction of radial basis functions in multivariate approximaLion anu applicatioll Camurigde University PTess Nashville 2002
[9(-iJ Schut7c T Diskr-efe quadratmittelapproxaacutenation durch splines mit freien knoten PhD thesis i-IathemaLicx faculty 1998
1 ~)7 1 Schwartz J Iuentihcation of partially obscureu objects in two anu thrce uirnens ions by matching noisy characteristic curves nt Journal Robotics 6 1987
149
REFERENCIAS
101 Sehwetlick H Lcast squares
l~ ) 0 1 Silva L Bellon O and Boyer 1lt faee inter llctrat ion measurc anrl Anal da h nLell 27(5)762shy
[ luumlU] Silv bull
POI)
[102] St AlI
[1031 Stl
rlU4] Tan tiOIl
105] Tizia verli
1lH ij Turk 94
lU71Turk Comp
[lO8] Verspr form 1
~ l( 191 Weber critical
~ lluuml] Wcik S
bono pa
l u l Weillcrt nical rep
-
CONCLUSIONES
10 todos los diferentes tipos de huecos son posibles ma de isla hacen que el algoritmo falle en la etapa ncilla la clasificacioacuten de un borde externo como una de este tipo de huecos constituye una futura directriz ubicados en regiones con caracteriacutesticas planas hace e muy poca variiexcliexclrioacuten de la medida de la torsioacuten lo ~~ Es posible afrontar este
corno la estimacioacuten de la
automaacutetica de la canti shyun umbral establecido de
tea uua directriiquest para la
142
Referencias
[1] Amenta N Bern M and Kamvysselis 11 A new voronoi-based surface reconstruction algorithm Computer Graphics 32(Annual Conference Series)415-421 1998
[21 Amenta N Choi S Dey K and Leekha N A simple algorithm for homeomorphic surshyface reconstruction Proc 16th Annual ACM Symposium 011 Computational Geometry - Hong Kong 213-222 2000
[ ~3 1 Arge A Approximation of scattered data using smooth grid functions Technical Rcport STF33 A94003 SINTEF 1994
[4] Bajaj C Adaptive reconstruction of surfaces and scalar fields from scattered trivariate data 1995
[51 Bajaj C and Schikore D Topology preserving data simplification with error bounds Cornputers and Craphics 22(1) 3-12 1998
[6] Baxter B The interpolation theory oj radial basis junctions PhD thesis Trinity College University of Cambridge 1992
[71 Bernardini F Mittleman J Rushmeier B Silva c and Taubin G The ball-pivoting algorithm for surface reconstruction IEEE Transactions 011 Visualization and Compushyter GraphIcs 5(4)349-359 1999
[8 [ Bertram M Tricoche X and Bagen B Adaptive smooth scattered-data approximation for largc-scalc terrain visualization EUROCRAPHICS IEEE TCVC Symposium 011
Visualization 2003
[Sl l Besl P Active optical range irnaging sensors Machine Viiion and Applications 1 1988
1101 Desl P J The free-forrn surface rnatching provlern in rnachine msion or thTeeshydimensional scenes Academic Press San Diego 1990
REFERENCIAS
[111 Besl P J and YlcKay N D A method Pattem Anal Mach In te ll 14(2)239-25
[l] Blais F Review of 20 years of range sensor
13(1)2004
[L3] Blais G Registering multiview range da report rvIcGill University 1993
t i ti Dlais G Rcgistcring multivicw data to Pattern Analysis and Machine Intelligen
1 Qiexcliexcliexcl~- [151 Boissonnat J and ea7 shy
j16] Doulanger P Tri
rJ7] Boyer E and P regular point sel
[l81 Bremer P Ed ls fundions on tria
1191Brou P Using tmiddot Robotics 3(4) 89
l20] Brunnstrom K l 1996
[2 LI Campbe11 R A s Comp1lter Viswn
[22 [ Carr J Beatson RccoTlstruction a Fiurne editor SI Press ACM SI
Cben C Ransac-l 11y overlapping ra
21 1999
Chen F OVCrViC Opt Eng 39 200
11
I
3selis M A new voronoi-based surface reconstruction 2(Annual Conference Series)415-421 1998
nomeomorphic surshytational Geometry
tions Technical
ttered tri variate
1 error bounds
rinity College
o ball-pivoting and Cornpushy
proximation nposimn on
ications 1
f01 three-
REFERENCIAS
[ll] Besl P J and McKay N D A method for registration of 3-d shapes IEEE Trans Pattern Anal Mach Intell 14(2)239-256 1992
[121 Blais F Review of 20 years of mnge sensor development Joumal of Electronic Imaging 13(1)2004
[13] Blais G Registering multiview mnge data to create 3d computer objects Technical report McGill University 1993
IHI I3lais G Registering multiview data to create 3d computer objects IEEE Trans Pattcm Analysis and Machine Intelligence 17 1995
rFi] Boissonnat J and Cazals F Smooth surface reconstruction via natural neighbor intershypolation of distance functions Computational GeornetTY 22(1-3) 185-203 2002
iacute161 Boulanger P Triangulating trimmed nurbs surfaces Curve and S~Lrfacc Design 2000
r171 Boyer E and Petitjean So Curve amI surface reconstruction from regular and nonshyregular poiacutent sets pages 659-665 2000
[181 Bremer P Edelsbrunner H and Pascucci V Hamann B A topological hierarchy for functions on triangulated surfaces TVCG 10 4 385396 2004
[l ] Brou p Using the gaussian image to find the orientation of an object [nt Jonmal Robotics 3(4)89-1251983
[-iquestUj Brunnstrom K GeneLic algorithrns for frecforrn surface rnatching Technical report 1996
[2 LI Campbell R A survey of free-form object representation and recognition tedmiques Computcr Vision and Image Understanding 81 200l
jl 2] Carr Jo Beatson R Cherrie J Mitchell T Fright W McCallum B and Evans T Reconstruction and representation of 3d objects with radie basis functions In Eugcne Fiume editor SIGGRAPH 2001 Computer Graphics Proceedings pages 67-76 AC~I Press ACM SIGGRAPH 200l
12JI Chen C Ransac-oased darees A new approaeh to fast autornatic registration of partiacuteashylly overlapping mnge images IEEE Trans Pattern Analysis and Machine Intelligence 21 1999
1241 Chen F Overview of three-dirnensional shape rneasurernent using optical methods Opto Eng 39 2000
144
REFERENCIAS
[25] Chen S Object extraction from laser radar imagery Pattern Recognitiort 24 1991
[2h] Chen Y Object modeling by registration of multiple range images Jmage and Vision Computing 10 1992
[27J Chi-Fang 1 A new approach to high precision 3d measuring system Jmage Vision CompUting 17 1999
[2KJ Chow c Tsui H and Lee T Surface registration using a dynamic genetic algorithm Paltrm Recoynition 37(1)105-117 2004
l29J Chua C 3d free-form surface registration and object recognition International Journal oI Compllt er lIision 17 1996
[30] Cohen-Steiner D and Da F A greedy surface reconstruction algorithm Visual ComshypllteT 3113-146 H))4
[31 ] Cordero J and Parejo J CllTVaitJ illperficies pam modelado GeorneacutetTico Edicioacuten Alfa-Omega Espantildea 2004
[3 2J Cox Iv The numerical evaluation applications 10134- 139 1972
[33J Curless B ew methods for surface reconstruction from range Images Technical l1eport CSL-TI1-97-733 Stanford 1997
[HJ CurlCtiti B From range ticans to 3d models CompUteT Gmphici 33(4) 1()99
135] Curless B Tutorial overVleW of active vlslon techniques 2000 http wwwsiggraphorg
[36] Curless B and Levoy 111 A volumetric method for building complex models from range images CompUter Gmphici 30(Annual Confcrcncc Series)303-312 1996
ll7J Davis J ldarschner S Garr i and Levoy M Filling holes in complex surfaces using volumetric diffusion 2002
[38] De T and Goswami S Provable surface reconstruction from noisy samples CompUshytational Geornetry Theory and Application 35(1-2)124-141 2006
1391 Dong S Dremer P Garland M Paseucci V and Hart J Quadrangulating a mesh using laplacian eigenvectors Technical Repon UIUCDCS-R-2005-2583 2005
REFERENCIAS ~~~-------------------------
[4U] Dorai C and Jain A K COSIOS - Al JEtE Transactions on Paltem Analysil
1997
ln] Duchon J Spline minimizing rotation- trudiUe Th eory 01 Functiofls 01 sevcml
1121Erk lv1 and Hoppe H Autolllatic n C01I
logical typc ACM-O-89791-U IAacute--shy
~ 1 3 1
[111 EdcJbrunncr
for piccewis
on Gmphirs
4cJ1 Farin G CUT
hers Ine San
[lh l Faugucras O Juumal oI Ro
[471
[l ) GocEn G and iIlformatioll pa
[49) Gonzalf7 A Ad cas de luz estru
IjO1 Gopi M Krish locali iquestcd ddauu
[Si] Greenspan lV ar 161-168200l
[52] Gregorski B Han data points ProCl
1 -) -) 1 Ilnralick 11 Potie pection and NIeasu
REFERENCIAS
lser radar imagery Pattem Recognition 24 1991
ftration of multiple range images Imag e and Visl0n
high precision 3d measuring system Image Vision
face registration ~- uetic algorithm
ional J0((rnal
Visual Comshy
Edicioacuten
range
usmg
REFERENCIAS
140] Dorai C and Jain A K cosvros - A representation scheme for 3d free-form objects IEEE Tmnsactions 071 Pattern Analysis and Machin e Intelligence 19(10)1115-1130 1997
[4 1] Duchon J Spline minimizing rotation-invariant seminorms in sobo ley spaces Consshytructive Theory of Punctions of several Variables 57185-100 1997
1121 Eek M and Hoppc H Automatic rceonstruetioll of o-splillc surfacc of aroitrary toposhylogical type ACM-O-89191-141-4 8 1996
[4J j Edelsbrunner H Harer J and Zomorodians A Hierarchical morse-smale complexes for piecewise linear 2-manifolds Discrete Computo Geom 3087-107 2003
[U ] Edclsbrunncr H and Muckc E Thrcc-dimcnsional alpha shapcs ACM Transacfions 071 Graphics 13(1)43-72 1994
45 J Farin G Ourves and s(trfaces for CA G D a practical guide Morgan Kaufmann Publisshyhers Inc San Francisco CA USA 2002
r lfi] Faugueras O The representation recognition and locating of 3d objects Internatlonal Journal of Robotics Research 5 1986
[47] Feldmar J Rigid affine and locally affine registration of free-from surfaces International Journal of Computer Vision 18 1996
~48j Godin G and Rioux M Three dimensional registration using range and intensity information pagc 2350 1994
149] Gonzalez A Adquisicioacuten y modelado tridimensional en visioacuten artificial mediante teacutecnishycas de luz estructurada PhD thesis UPM 1998
[501 Gopi M Krishnan S and Silva C Surface reconstruction based on lower dimensional locali~ed dclaunay triangulation volurne HJ pagcs C467-C47t) 2000
[51] Greenspan M and Godin G A lIearest neigboour metbod for efficiellt lepo pages 161- 168 2001
[521 Gregorski B Hamann B and Joy D Reconstruction of b-spline surfaces from scattered data points Proceedings of Computer Graphics International 2000
I middot~)JI I-Iaralick TI Pose estimation frorn corresponding point data Machine Vision j(JT lnsshypection and Measurement 1989
146
REFERENCIAS
[J4] Hartigan J A and Wong M A A k-means clustering algorithm Applied Statistics 2~100-10~ 1979
I-iexcljl Hartley rr and Zisserman A Multiple view geometry in computer visiono Cambridge University second edition 2003
[5UI Hilton A On reliable surface reconstruction from multiple range images Technical report U ni versi ty of Surrey 1995
[571 Hoppe H SUrface reconstruction from unorganized points PhD thesis VIashington University 1994
[1f1 Hoppe H Derose T Duchamp T Mcdonald J and Stuetzle W Mesh optimization 1993 httpwwwsiggraphorg
[591 Hom D Closcd-form solution of oricntation using unit quartcrnions Joumal of Optica Society of America 4 1987
[GU] Hraacutedek J IIethods of surface reconstruction from scattered data Technical report Deshypartment of Computer Science and Engineering University of Aiacuteest Bohemiain Pilsen 2003
[61 j Jarvis R A perspective on range finding techniques for computer visiono IEEE Trans Pattern Anal Mach Intell 5 1983
[621 Johnson A Using spin images for efficient object recognition in cluttered 3d scenes IEEE Trans Pattern Anal Mach Intell 21 1999
[u31 Johnson A Kang S Registration and integration of textured 3-d data pages 234-241 1997
[64] Jung H A new parameterisation method for nurbs surface interpolation Advaneed ManUjacturing Technology 16 2000
[liFi [ Krishnamurthy V and Levoy M Fitting smooth surfaces to dense polygon meshes In SIGGRAPH 96 Conference Proceedings AGM SIGGRAPH Addison Wesley 1996
[60] Laurent P Optimization of a nurbs representation CompUter Aided Design 25 1999
[671 Levin D Mesh-independent surface interpolation Tedmical report Tel Aviv 69978 Israel 1999
[(j8] Loop C Smooth spline surfaces over irregular meshes Apple Computer Ine 1994
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Lorensen W and Cline H f Iarching eu algorithrn In SIGGRAPH tJ7 Procecdiiexcl gmphics and int emctivf l cchniqu es voh 1987 ACM Prc
[70] Lounsb ry M( Transactions
[7 ll Lozano E r
report Dep tario de ~la
l721Lucches0 Lj Pattern Aniexcl
iexcl-3] Marshal A
[7 l] Masuda T Computer
[ jI rlontegran 2004
17G Ivlyers A range dato Science 1
177] Ni X G structurc
[71Ni X G l
volumetri
[791 Park 1 unorgan
I (JI Panl Dil New Yo
181 1Peters
Plineiexcl [ 21 Piegl L
REFERENCIAS
A k-means clustering algorithm Applied Statistics
lltiple view geometry in computer visiono Carnbridge
~construction from multiple range images Technical 5
n fmm unorganized points PhD thesis Washington
r Mcdonald J ~l Stuetzle W Mesh optimization
Joumal of Optim
a Technical report DeshyTest Bohemiain Pilsen
IEEE Trans
pages 234-241
Advanced
v 69978
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[711 Lozano E Toacutepicos en reconocimiento de patrones funciones de base radial Technical report Departamento de tIatemaacuteticas Universidad de Puerto Rico Recinto Universishytario de Mayaguumlez 2002
[72] Lucchese L A frequency domain technique for range data registration IEEE Trans Pattern Analysis and Machine Intelligence 24 2002
[73] Marshal A Computer vision models and inspection World Scientific 1993
[711 Masuaa T A robust method for registration ana segmentation of rnultipll range irnages Comp1tter Vision and Image Understanding 61 1995
[75] Montegranario H Reconstruccioacuten de superficies mediante funciones de base radial 2004
[7(j] Myers A Introductory literature review surface reconstruction from three dimensional range data Technical report The University of Adclaidey Department of Computer Science 1999
[77] Ni X Garland M and Hart J Fair morse functions for extracting the topological structurc of a surface mesh ACM Trans Gmph 23(3)613-622 2004
[781 Ni X Garland M and Hart J Simplification and repair of polygonal models using volumetric techniques Proc SIGGRAPH TOG 233613-622 2004
[791 Park l Lee S and Yun 1 Constructing nurbs surface model from scaUered and unorganized range data 3dim 000312 1999
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[811 Peters J Constructing el surfaces of arbitrary topology using bicuadric and bicubic splines Desigruacuteng FaJr Curves and Surfaces 277-293 1994
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[84] Pratt M J Geometric methods lor computer-aided designo
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[ 91 Rioux M a nd Domey J Lateral effect photodiode a new technique to obtain position signals Opto Eng 21(20) 1982
[no] Robertson C and Fisher R Parallel evolutionary registration of range data CorriquestplLter Vislon and mage Under-standing pages 39-50 2002
[91 ] Rusinkiewiczs S Real-time acquisition and rendering ol large 3D models PhD thesis Stanforu University 2001
[921 Saacutenchez F Reconstruccioacuten tridimensional de escenas con iluminacioacuten laacuteser aplicacioshynes a la fotogrametriacutea industrial PhD thesis UPM 2000
[931 Sappa A Range image registration by using an eugebaseu representation 200l httpwwwsiggraphorg
[941 Savchenko V Paseo V Okunev O and Kunni T Function representation of solids reconstructed form scattered surface points and contours Computer Graphics Fornm 14 1995
[9S] Schaback R caracterization and eonstruction of radial basis functions in multivariate approximaLion anu applicatioll Camurigde University PTess Nashville 2002
[9(-iJ Schut7c T Diskr-efe quadratmittelapproxaacutenation durch splines mit freien knoten PhD thesis i-IathemaLicx faculty 1998
1 ~)7 1 Schwartz J Iuentihcation of partially obscureu objects in two anu thrce uirnens ions by matching noisy characteristic curves nt Journal Robotics 6 1987
149
REFERENCIAS
101 Sehwetlick H Lcast squares
l~ ) 0 1 Silva L Bellon O and Boyer 1lt faee inter llctrat ion measurc anrl Anal da h nLell 27(5)762shy
[ luumlU] Silv bull
POI)
[102] St AlI
[1031 Stl
rlU4] Tan tiOIl
105] Tizia verli
1lH ij Turk 94
lU71Turk Comp
[lO8] Verspr form 1
~ l( 191 Weber critical
~ lluuml] Wcik S
bono pa
l u l Weillcrt nical rep
Referencias
[1] Amenta N Bern M and Kamvysselis 11 A new voronoi-based surface reconstruction algorithm Computer Graphics 32(Annual Conference Series)415-421 1998
[21 Amenta N Choi S Dey K and Leekha N A simple algorithm for homeomorphic surshyface reconstruction Proc 16th Annual ACM Symposium 011 Computational Geometry - Hong Kong 213-222 2000
[ ~3 1 Arge A Approximation of scattered data using smooth grid functions Technical Rcport STF33 A94003 SINTEF 1994
[4] Bajaj C Adaptive reconstruction of surfaces and scalar fields from scattered trivariate data 1995
[51 Bajaj C and Schikore D Topology preserving data simplification with error bounds Cornputers and Craphics 22(1) 3-12 1998
[6] Baxter B The interpolation theory oj radial basis junctions PhD thesis Trinity College University of Cambridge 1992
[71 Bernardini F Mittleman J Rushmeier B Silva c and Taubin G The ball-pivoting algorithm for surface reconstruction IEEE Transactions 011 Visualization and Compushyter GraphIcs 5(4)349-359 1999
[8 [ Bertram M Tricoche X and Bagen B Adaptive smooth scattered-data approximation for largc-scalc terrain visualization EUROCRAPHICS IEEE TCVC Symposium 011
Visualization 2003
[Sl l Besl P Active optical range irnaging sensors Machine Viiion and Applications 1 1988
1101 Desl P J The free-forrn surface rnatching provlern in rnachine msion or thTeeshydimensional scenes Academic Press San Diego 1990
REFERENCIAS
[111 Besl P J and YlcKay N D A method Pattem Anal Mach In te ll 14(2)239-25
[l] Blais F Review of 20 years of range sensor
13(1)2004
[L3] Blais G Registering multiview range da report rvIcGill University 1993
t i ti Dlais G Rcgistcring multivicw data to Pattern Analysis and Machine Intelligen
1 Qiexcliexcliexcl~- [151 Boissonnat J and ea7 shy
j16] Doulanger P Tri
rJ7] Boyer E and P regular point sel
[l81 Bremer P Ed ls fundions on tria
1191Brou P Using tmiddot Robotics 3(4) 89
l20] Brunnstrom K l 1996
[2 LI Campbe11 R A s Comp1lter Viswn
[22 [ Carr J Beatson RccoTlstruction a Fiurne editor SI Press ACM SI
Cben C Ransac-l 11y overlapping ra
21 1999
Chen F OVCrViC Opt Eng 39 200
11
I
3selis M A new voronoi-based surface reconstruction 2(Annual Conference Series)415-421 1998
nomeomorphic surshytational Geometry
tions Technical
ttered tri variate
1 error bounds
rinity College
o ball-pivoting and Cornpushy
proximation nposimn on
ications 1
f01 three-
REFERENCIAS
[ll] Besl P J and McKay N D A method for registration of 3-d shapes IEEE Trans Pattern Anal Mach Intell 14(2)239-256 1992
[121 Blais F Review of 20 years of mnge sensor development Joumal of Electronic Imaging 13(1)2004
[13] Blais G Registering multiview mnge data to create 3d computer objects Technical report McGill University 1993
IHI I3lais G Registering multiview data to create 3d computer objects IEEE Trans Pattcm Analysis and Machine Intelligence 17 1995
rFi] Boissonnat J and Cazals F Smooth surface reconstruction via natural neighbor intershypolation of distance functions Computational GeornetTY 22(1-3) 185-203 2002
iacute161 Boulanger P Triangulating trimmed nurbs surfaces Curve and S~Lrfacc Design 2000
r171 Boyer E and Petitjean So Curve amI surface reconstruction from regular and nonshyregular poiacutent sets pages 659-665 2000
[181 Bremer P Edelsbrunner H and Pascucci V Hamann B A topological hierarchy for functions on triangulated surfaces TVCG 10 4 385396 2004
[l ] Brou p Using the gaussian image to find the orientation of an object [nt Jonmal Robotics 3(4)89-1251983
[-iquestUj Brunnstrom K GeneLic algorithrns for frecforrn surface rnatching Technical report 1996
[2 LI Campbell R A survey of free-form object representation and recognition tedmiques Computcr Vision and Image Understanding 81 200l
jl 2] Carr Jo Beatson R Cherrie J Mitchell T Fright W McCallum B and Evans T Reconstruction and representation of 3d objects with radie basis functions In Eugcne Fiume editor SIGGRAPH 2001 Computer Graphics Proceedings pages 67-76 AC~I Press ACM SIGGRAPH 200l
12JI Chen C Ransac-oased darees A new approaeh to fast autornatic registration of partiacuteashylly overlapping mnge images IEEE Trans Pattern Analysis and Machine Intelligence 21 1999
1241 Chen F Overview of three-dirnensional shape rneasurernent using optical methods Opto Eng 39 2000
144
REFERENCIAS
[25] Chen S Object extraction from laser radar imagery Pattern Recognitiort 24 1991
[2h] Chen Y Object modeling by registration of multiple range images Jmage and Vision Computing 10 1992
[27J Chi-Fang 1 A new approach to high precision 3d measuring system Jmage Vision CompUting 17 1999
[2KJ Chow c Tsui H and Lee T Surface registration using a dynamic genetic algorithm Paltrm Recoynition 37(1)105-117 2004
l29J Chua C 3d free-form surface registration and object recognition International Journal oI Compllt er lIision 17 1996
[30] Cohen-Steiner D and Da F A greedy surface reconstruction algorithm Visual ComshypllteT 3113-146 H))4
[31 ] Cordero J and Parejo J CllTVaitJ illperficies pam modelado GeorneacutetTico Edicioacuten Alfa-Omega Espantildea 2004
[3 2J Cox Iv The numerical evaluation applications 10134- 139 1972
[33J Curless B ew methods for surface reconstruction from range Images Technical l1eport CSL-TI1-97-733 Stanford 1997
[HJ CurlCtiti B From range ticans to 3d models CompUteT Gmphici 33(4) 1()99
135] Curless B Tutorial overVleW of active vlslon techniques 2000 http wwwsiggraphorg
[36] Curless B and Levoy 111 A volumetric method for building complex models from range images CompUter Gmphici 30(Annual Confcrcncc Series)303-312 1996
ll7J Davis J ldarschner S Garr i and Levoy M Filling holes in complex surfaces using volumetric diffusion 2002
[38] De T and Goswami S Provable surface reconstruction from noisy samples CompUshytational Geornetry Theory and Application 35(1-2)124-141 2006
1391 Dong S Dremer P Garland M Paseucci V and Hart J Quadrangulating a mesh using laplacian eigenvectors Technical Repon UIUCDCS-R-2005-2583 2005
REFERENCIAS ~~~-------------------------
[4U] Dorai C and Jain A K COSIOS - Al JEtE Transactions on Paltem Analysil
1997
ln] Duchon J Spline minimizing rotation- trudiUe Th eory 01 Functiofls 01 sevcml
1121Erk lv1 and Hoppe H Autolllatic n C01I
logical typc ACM-O-89791-U IAacute--shy
~ 1 3 1
[111 EdcJbrunncr
for piccewis
on Gmphirs
4cJ1 Farin G CUT
hers Ine San
[lh l Faugucras O Juumal oI Ro
[471
[l ) GocEn G and iIlformatioll pa
[49) Gonzalf7 A Ad cas de luz estru
IjO1 Gopi M Krish locali iquestcd ddauu
[Si] Greenspan lV ar 161-168200l
[52] Gregorski B Han data points ProCl
1 -) -) 1 Ilnralick 11 Potie pection and NIeasu
REFERENCIAS
lser radar imagery Pattem Recognition 24 1991
ftration of multiple range images Imag e and Visl0n
high precision 3d measuring system Image Vision
face registration ~- uetic algorithm
ional J0((rnal
Visual Comshy
Edicioacuten
range
usmg
REFERENCIAS
140] Dorai C and Jain A K cosvros - A representation scheme for 3d free-form objects IEEE Tmnsactions 071 Pattern Analysis and Machin e Intelligence 19(10)1115-1130 1997
[4 1] Duchon J Spline minimizing rotation-invariant seminorms in sobo ley spaces Consshytructive Theory of Punctions of several Variables 57185-100 1997
1121 Eek M and Hoppc H Automatic rceonstruetioll of o-splillc surfacc of aroitrary toposhylogical type ACM-O-89191-141-4 8 1996
[4J j Edelsbrunner H Harer J and Zomorodians A Hierarchical morse-smale complexes for piecewise linear 2-manifolds Discrete Computo Geom 3087-107 2003
[U ] Edclsbrunncr H and Muckc E Thrcc-dimcnsional alpha shapcs ACM Transacfions 071 Graphics 13(1)43-72 1994
45 J Farin G Ourves and s(trfaces for CA G D a practical guide Morgan Kaufmann Publisshyhers Inc San Francisco CA USA 2002
r lfi] Faugueras O The representation recognition and locating of 3d objects Internatlonal Journal of Robotics Research 5 1986
[47] Feldmar J Rigid affine and locally affine registration of free-from surfaces International Journal of Computer Vision 18 1996
~48j Godin G and Rioux M Three dimensional registration using range and intensity information pagc 2350 1994
149] Gonzalez A Adquisicioacuten y modelado tridimensional en visioacuten artificial mediante teacutecnishycas de luz estructurada PhD thesis UPM 1998
[501 Gopi M Krishnan S and Silva C Surface reconstruction based on lower dimensional locali~ed dclaunay triangulation volurne HJ pagcs C467-C47t) 2000
[51] Greenspan M and Godin G A lIearest neigboour metbod for efficiellt lepo pages 161- 168 2001
[521 Gregorski B Hamann B and Joy D Reconstruction of b-spline surfaces from scattered data points Proceedings of Computer Graphics International 2000
I middot~)JI I-Iaralick TI Pose estimation frorn corresponding point data Machine Vision j(JT lnsshypection and Measurement 1989
146
REFERENCIAS
[J4] Hartigan J A and Wong M A A k-means clustering algorithm Applied Statistics 2~100-10~ 1979
I-iexcljl Hartley rr and Zisserman A Multiple view geometry in computer visiono Cambridge University second edition 2003
[5UI Hilton A On reliable surface reconstruction from multiple range images Technical report U ni versi ty of Surrey 1995
[571 Hoppe H SUrface reconstruction from unorganized points PhD thesis VIashington University 1994
[1f1 Hoppe H Derose T Duchamp T Mcdonald J and Stuetzle W Mesh optimization 1993 httpwwwsiggraphorg
[591 Hom D Closcd-form solution of oricntation using unit quartcrnions Joumal of Optica Society of America 4 1987
[GU] Hraacutedek J IIethods of surface reconstruction from scattered data Technical report Deshypartment of Computer Science and Engineering University of Aiacuteest Bohemiain Pilsen 2003
[61 j Jarvis R A perspective on range finding techniques for computer visiono IEEE Trans Pattern Anal Mach Intell 5 1983
[621 Johnson A Using spin images for efficient object recognition in cluttered 3d scenes IEEE Trans Pattern Anal Mach Intell 21 1999
[u31 Johnson A Kang S Registration and integration of textured 3-d data pages 234-241 1997
[64] Jung H A new parameterisation method for nurbs surface interpolation Advaneed ManUjacturing Technology 16 2000
[liFi [ Krishnamurthy V and Levoy M Fitting smooth surfaces to dense polygon meshes In SIGGRAPH 96 Conference Proceedings AGM SIGGRAPH Addison Wesley 1996
[60] Laurent P Optimization of a nurbs representation CompUter Aided Design 25 1999
[671 Levin D Mesh-independent surface interpolation Tedmical report Tel Aviv 69978 Israel 1999
[(j8] Loop C Smooth spline surfaces over irregular meshes Apple Computer Ine 1994
REFERENCIAS
Lorensen W and Cline H f Iarching eu algorithrn In SIGGRAPH tJ7 Procecdiiexcl gmphics and int emctivf l cchniqu es voh 1987 ACM Prc
[70] Lounsb ry M( Transactions
[7 ll Lozano E r
report Dep tario de ~la
l721Lucches0 Lj Pattern Aniexcl
iexcl-3] Marshal A
[7 l] Masuda T Computer
[ jI rlontegran 2004
17G Ivlyers A range dato Science 1
177] Ni X G structurc
[71Ni X G l
volumetri
[791 Park 1 unorgan
I (JI Panl Dil New Yo
181 1Peters
Plineiexcl [ 21 Piegl L
REFERENCIAS
A k-means clustering algorithm Applied Statistics
lltiple view geometry in computer visiono Carnbridge
~construction from multiple range images Technical 5
n fmm unorganized points PhD thesis Washington
r Mcdonald J ~l Stuetzle W Mesh optimization
Joumal of Optim
a Technical report DeshyTest Bohemiain Pilsen
IEEE Trans
pages 234-241
Advanced
v 69978
REFERENCIAS
[b9] Lorensen W and Cline H Marching cubes A high resolution 3d surface construction algorithrn In SIGGRAPH 87 Pmceedings oI the 14th anmwl conference on Computa graphics and interactive techniques volume 21 pages 163-169 New York NY USA 1987 AC1VI Press
170] Lounsbery M Multiresolution analysis for surfaces of arbitrary topological type ACM Transactions on Graphics 1998
[711 Lozano E Toacutepicos en reconocimiento de patrones funciones de base radial Technical report Departamento de tIatemaacuteticas Universidad de Puerto Rico Recinto Universishytario de Mayaguumlez 2002
[72] Lucchese L A frequency domain technique for range data registration IEEE Trans Pattern Analysis and Machine Intelligence 24 2002
[73] Marshal A Computer vision models and inspection World Scientific 1993
[711 Masuaa T A robust method for registration ana segmentation of rnultipll range irnages Comp1tter Vision and Image Understanding 61 1995
[75] Montegranario H Reconstruccioacuten de superficies mediante funciones de base radial 2004
[7(j] Myers A Introductory literature review surface reconstruction from three dimensional range data Technical report The University of Adclaidey Department of Computer Science 1999
[77] Ni X Garland M and Hart J Fair morse functions for extracting the topological structurc of a surface mesh ACM Trans Gmph 23(3)613-622 2004
[781 Ni X Garland M and Hart J Simplification and repair of polygonal models using volumetric techniques Proc SIGGRAPH TOG 233613-622 2004
[791 Park l Lee S and Yun 1 Constructing nurbs surface model from scaUered and unorganized range data 3dim 000312 1999
[80] Paul Dicrckx Curve and surface fitting with splines Oxford Univcrsity Press Inc New York Y USA 1993
[811 Peters J Constructing el surfaces of arbitrary topology using bicuadric and bicubic splines Desigruacuteng FaJr Curves and Surfaces 277-293 1994
IX2 J Piegl L and Tiller W The NURBS book Springer-Verlag London UK 1995
REFERENCIAS
[~3 ] Pito R Mesh integration based on comeasurements Proceedings ofICP 2 1996
[84] Pratt M J Geometric methods lor computer-aided designo
[85] Pulli K Surface reconstruction and display from range and color data PhD thesis University of Washington 1997
[86] Pulli K Multiview registration for large data sets 1999
[871 Randrianarivony M and Brunnett G Parallel implementation of surface reconstruction from noisy samples 2002 SFB preprint 02-16 Technische Universitat Chemnitz
[881 Reuter P Tobor L Schlick C and Dedieu S Point-based modelling and rendering u~ing radial ba- is functions In GRAPHTE 03 Proceedings of the 1st infernafional conference on Comp1der gmphics and interactive techniques in A ustralasia and South East Asia pages 111-118 New York NY USA 2003 ACM Press
[ 91 Rioux M a nd Domey J Lateral effect photodiode a new technique to obtain position signals Opto Eng 21(20) 1982
[no] Robertson C and Fisher R Parallel evolutionary registration of range data CorriquestplLter Vislon and mage Under-standing pages 39-50 2002
[91 ] Rusinkiewiczs S Real-time acquisition and rendering ol large 3D models PhD thesis Stanforu University 2001
[921 Saacutenchez F Reconstruccioacuten tridimensional de escenas con iluminacioacuten laacuteser aplicacioshynes a la fotogrametriacutea industrial PhD thesis UPM 2000
[931 Sappa A Range image registration by using an eugebaseu representation 200l httpwwwsiggraphorg
[941 Savchenko V Paseo V Okunev O and Kunni T Function representation of solids reconstructed form scattered surface points and contours Computer Graphics Fornm 14 1995
[9S] Schaback R caracterization and eonstruction of radial basis functions in multivariate approximaLion anu applicatioll Camurigde University PTess Nashville 2002
[9(-iJ Schut7c T Diskr-efe quadratmittelapproxaacutenation durch splines mit freien knoten PhD thesis i-IathemaLicx faculty 1998
1 ~)7 1 Schwartz J Iuentihcation of partially obscureu objects in two anu thrce uirnens ions by matching noisy characteristic curves nt Journal Robotics 6 1987
149
REFERENCIAS
101 Sehwetlick H Lcast squares
l~ ) 0 1 Silva L Bellon O and Boyer 1lt faee inter llctrat ion measurc anrl Anal da h nLell 27(5)762shy
[ luumlU] Silv bull
POI)
[102] St AlI
[1031 Stl
rlU4] Tan tiOIl
105] Tizia verli
1lH ij Turk 94
lU71Turk Comp
[lO8] Verspr form 1
~ l( 191 Weber critical
~ lluuml] Wcik S
bono pa
l u l Weillcrt nical rep
3selis M A new voronoi-based surface reconstruction 2(Annual Conference Series)415-421 1998
nomeomorphic surshytational Geometry
tions Technical
ttered tri variate
1 error bounds
rinity College
o ball-pivoting and Cornpushy
proximation nposimn on
ications 1
f01 three-
REFERENCIAS
[ll] Besl P J and McKay N D A method for registration of 3-d shapes IEEE Trans Pattern Anal Mach Intell 14(2)239-256 1992
[121 Blais F Review of 20 years of mnge sensor development Joumal of Electronic Imaging 13(1)2004
[13] Blais G Registering multiview mnge data to create 3d computer objects Technical report McGill University 1993
IHI I3lais G Registering multiview data to create 3d computer objects IEEE Trans Pattcm Analysis and Machine Intelligence 17 1995
rFi] Boissonnat J and Cazals F Smooth surface reconstruction via natural neighbor intershypolation of distance functions Computational GeornetTY 22(1-3) 185-203 2002
iacute161 Boulanger P Triangulating trimmed nurbs surfaces Curve and S~Lrfacc Design 2000
r171 Boyer E and Petitjean So Curve amI surface reconstruction from regular and nonshyregular poiacutent sets pages 659-665 2000
[181 Bremer P Edelsbrunner H and Pascucci V Hamann B A topological hierarchy for functions on triangulated surfaces TVCG 10 4 385396 2004
[l ] Brou p Using the gaussian image to find the orientation of an object [nt Jonmal Robotics 3(4)89-1251983
[-iquestUj Brunnstrom K GeneLic algorithrns for frecforrn surface rnatching Technical report 1996
[2 LI Campbell R A survey of free-form object representation and recognition tedmiques Computcr Vision and Image Understanding 81 200l
jl 2] Carr Jo Beatson R Cherrie J Mitchell T Fright W McCallum B and Evans T Reconstruction and representation of 3d objects with radie basis functions In Eugcne Fiume editor SIGGRAPH 2001 Computer Graphics Proceedings pages 67-76 AC~I Press ACM SIGGRAPH 200l
12JI Chen C Ransac-oased darees A new approaeh to fast autornatic registration of partiacuteashylly overlapping mnge images IEEE Trans Pattern Analysis and Machine Intelligence 21 1999
1241 Chen F Overview of three-dirnensional shape rneasurernent using optical methods Opto Eng 39 2000
144
REFERENCIAS
[25] Chen S Object extraction from laser radar imagery Pattern Recognitiort 24 1991
[2h] Chen Y Object modeling by registration of multiple range images Jmage and Vision Computing 10 1992
[27J Chi-Fang 1 A new approach to high precision 3d measuring system Jmage Vision CompUting 17 1999
[2KJ Chow c Tsui H and Lee T Surface registration using a dynamic genetic algorithm Paltrm Recoynition 37(1)105-117 2004
l29J Chua C 3d free-form surface registration and object recognition International Journal oI Compllt er lIision 17 1996
[30] Cohen-Steiner D and Da F A greedy surface reconstruction algorithm Visual ComshypllteT 3113-146 H))4
[31 ] Cordero J and Parejo J CllTVaitJ illperficies pam modelado GeorneacutetTico Edicioacuten Alfa-Omega Espantildea 2004
[3 2J Cox Iv The numerical evaluation applications 10134- 139 1972
[33J Curless B ew methods for surface reconstruction from range Images Technical l1eport CSL-TI1-97-733 Stanford 1997
[HJ CurlCtiti B From range ticans to 3d models CompUteT Gmphici 33(4) 1()99
135] Curless B Tutorial overVleW of active vlslon techniques 2000 http wwwsiggraphorg
[36] Curless B and Levoy 111 A volumetric method for building complex models from range images CompUter Gmphici 30(Annual Confcrcncc Series)303-312 1996
ll7J Davis J ldarschner S Garr i and Levoy M Filling holes in complex surfaces using volumetric diffusion 2002
[38] De T and Goswami S Provable surface reconstruction from noisy samples CompUshytational Geornetry Theory and Application 35(1-2)124-141 2006
1391 Dong S Dremer P Garland M Paseucci V and Hart J Quadrangulating a mesh using laplacian eigenvectors Technical Repon UIUCDCS-R-2005-2583 2005
REFERENCIAS ~~~-------------------------
[4U] Dorai C and Jain A K COSIOS - Al JEtE Transactions on Paltem Analysil
1997
ln] Duchon J Spline minimizing rotation- trudiUe Th eory 01 Functiofls 01 sevcml
1121Erk lv1 and Hoppe H Autolllatic n C01I
logical typc ACM-O-89791-U IAacute--shy
~ 1 3 1
[111 EdcJbrunncr
for piccewis
on Gmphirs
4cJ1 Farin G CUT
hers Ine San
[lh l Faugucras O Juumal oI Ro
[471
[l ) GocEn G and iIlformatioll pa
[49) Gonzalf7 A Ad cas de luz estru
IjO1 Gopi M Krish locali iquestcd ddauu
[Si] Greenspan lV ar 161-168200l
[52] Gregorski B Han data points ProCl
1 -) -) 1 Ilnralick 11 Potie pection and NIeasu
REFERENCIAS
lser radar imagery Pattem Recognition 24 1991
ftration of multiple range images Imag e and Visl0n
high precision 3d measuring system Image Vision
face registration ~- uetic algorithm
ional J0((rnal
Visual Comshy
Edicioacuten
range
usmg
REFERENCIAS
140] Dorai C and Jain A K cosvros - A representation scheme for 3d free-form objects IEEE Tmnsactions 071 Pattern Analysis and Machin e Intelligence 19(10)1115-1130 1997
[4 1] Duchon J Spline minimizing rotation-invariant seminorms in sobo ley spaces Consshytructive Theory of Punctions of several Variables 57185-100 1997
1121 Eek M and Hoppc H Automatic rceonstruetioll of o-splillc surfacc of aroitrary toposhylogical type ACM-O-89191-141-4 8 1996
[4J j Edelsbrunner H Harer J and Zomorodians A Hierarchical morse-smale complexes for piecewise linear 2-manifolds Discrete Computo Geom 3087-107 2003
[U ] Edclsbrunncr H and Muckc E Thrcc-dimcnsional alpha shapcs ACM Transacfions 071 Graphics 13(1)43-72 1994
45 J Farin G Ourves and s(trfaces for CA G D a practical guide Morgan Kaufmann Publisshyhers Inc San Francisco CA USA 2002
r lfi] Faugueras O The representation recognition and locating of 3d objects Internatlonal Journal of Robotics Research 5 1986
[47] Feldmar J Rigid affine and locally affine registration of free-from surfaces International Journal of Computer Vision 18 1996
~48j Godin G and Rioux M Three dimensional registration using range and intensity information pagc 2350 1994
149] Gonzalez A Adquisicioacuten y modelado tridimensional en visioacuten artificial mediante teacutecnishycas de luz estructurada PhD thesis UPM 1998
[501 Gopi M Krishnan S and Silva C Surface reconstruction based on lower dimensional locali~ed dclaunay triangulation volurne HJ pagcs C467-C47t) 2000
[51] Greenspan M and Godin G A lIearest neigboour metbod for efficiellt lepo pages 161- 168 2001
[521 Gregorski B Hamann B and Joy D Reconstruction of b-spline surfaces from scattered data points Proceedings of Computer Graphics International 2000
I middot~)JI I-Iaralick TI Pose estimation frorn corresponding point data Machine Vision j(JT lnsshypection and Measurement 1989
146
REFERENCIAS
[J4] Hartigan J A and Wong M A A k-means clustering algorithm Applied Statistics 2~100-10~ 1979
I-iexcljl Hartley rr and Zisserman A Multiple view geometry in computer visiono Cambridge University second edition 2003
[5UI Hilton A On reliable surface reconstruction from multiple range images Technical report U ni versi ty of Surrey 1995
[571 Hoppe H SUrface reconstruction from unorganized points PhD thesis VIashington University 1994
[1f1 Hoppe H Derose T Duchamp T Mcdonald J and Stuetzle W Mesh optimization 1993 httpwwwsiggraphorg
[591 Hom D Closcd-form solution of oricntation using unit quartcrnions Joumal of Optica Society of America 4 1987
[GU] Hraacutedek J IIethods of surface reconstruction from scattered data Technical report Deshypartment of Computer Science and Engineering University of Aiacuteest Bohemiain Pilsen 2003
[61 j Jarvis R A perspective on range finding techniques for computer visiono IEEE Trans Pattern Anal Mach Intell 5 1983
[621 Johnson A Using spin images for efficient object recognition in cluttered 3d scenes IEEE Trans Pattern Anal Mach Intell 21 1999
[u31 Johnson A Kang S Registration and integration of textured 3-d data pages 234-241 1997
[64] Jung H A new parameterisation method for nurbs surface interpolation Advaneed ManUjacturing Technology 16 2000
[liFi [ Krishnamurthy V and Levoy M Fitting smooth surfaces to dense polygon meshes In SIGGRAPH 96 Conference Proceedings AGM SIGGRAPH Addison Wesley 1996
[60] Laurent P Optimization of a nurbs representation CompUter Aided Design 25 1999
[671 Levin D Mesh-independent surface interpolation Tedmical report Tel Aviv 69978 Israel 1999
[(j8] Loop C Smooth spline surfaces over irregular meshes Apple Computer Ine 1994
REFERENCIAS
Lorensen W and Cline H f Iarching eu algorithrn In SIGGRAPH tJ7 Procecdiiexcl gmphics and int emctivf l cchniqu es voh 1987 ACM Prc
[70] Lounsb ry M( Transactions
[7 ll Lozano E r
report Dep tario de ~la
l721Lucches0 Lj Pattern Aniexcl
iexcl-3] Marshal A
[7 l] Masuda T Computer
[ jI rlontegran 2004
17G Ivlyers A range dato Science 1
177] Ni X G structurc
[71Ni X G l
volumetri
[791 Park 1 unorgan
I (JI Panl Dil New Yo
181 1Peters
Plineiexcl [ 21 Piegl L
REFERENCIAS
A k-means clustering algorithm Applied Statistics
lltiple view geometry in computer visiono Carnbridge
~construction from multiple range images Technical 5
n fmm unorganized points PhD thesis Washington
r Mcdonald J ~l Stuetzle W Mesh optimization
Joumal of Optim
a Technical report DeshyTest Bohemiain Pilsen
IEEE Trans
pages 234-241
Advanced
v 69978
REFERENCIAS
[b9] Lorensen W and Cline H Marching cubes A high resolution 3d surface construction algorithrn In SIGGRAPH 87 Pmceedings oI the 14th anmwl conference on Computa graphics and interactive techniques volume 21 pages 163-169 New York NY USA 1987 AC1VI Press
170] Lounsbery M Multiresolution analysis for surfaces of arbitrary topological type ACM Transactions on Graphics 1998
[711 Lozano E Toacutepicos en reconocimiento de patrones funciones de base radial Technical report Departamento de tIatemaacuteticas Universidad de Puerto Rico Recinto Universishytario de Mayaguumlez 2002
[72] Lucchese L A frequency domain technique for range data registration IEEE Trans Pattern Analysis and Machine Intelligence 24 2002
[73] Marshal A Computer vision models and inspection World Scientific 1993
[711 Masuaa T A robust method for registration ana segmentation of rnultipll range irnages Comp1tter Vision and Image Understanding 61 1995
[75] Montegranario H Reconstruccioacuten de superficies mediante funciones de base radial 2004
[7(j] Myers A Introductory literature review surface reconstruction from three dimensional range data Technical report The University of Adclaidey Department of Computer Science 1999
[77] Ni X Garland M and Hart J Fair morse functions for extracting the topological structurc of a surface mesh ACM Trans Gmph 23(3)613-622 2004
[781 Ni X Garland M and Hart J Simplification and repair of polygonal models using volumetric techniques Proc SIGGRAPH TOG 233613-622 2004
[791 Park l Lee S and Yun 1 Constructing nurbs surface model from scaUered and unorganized range data 3dim 000312 1999
[80] Paul Dicrckx Curve and surface fitting with splines Oxford Univcrsity Press Inc New York Y USA 1993
[811 Peters J Constructing el surfaces of arbitrary topology using bicuadric and bicubic splines Desigruacuteng FaJr Curves and Surfaces 277-293 1994
IX2 J Piegl L and Tiller W The NURBS book Springer-Verlag London UK 1995
REFERENCIAS
[~3 ] Pito R Mesh integration based on comeasurements Proceedings ofICP 2 1996
[84] Pratt M J Geometric methods lor computer-aided designo
[85] Pulli K Surface reconstruction and display from range and color data PhD thesis University of Washington 1997
[86] Pulli K Multiview registration for large data sets 1999
[871 Randrianarivony M and Brunnett G Parallel implementation of surface reconstruction from noisy samples 2002 SFB preprint 02-16 Technische Universitat Chemnitz
[881 Reuter P Tobor L Schlick C and Dedieu S Point-based modelling and rendering u~ing radial ba- is functions In GRAPHTE 03 Proceedings of the 1st infernafional conference on Comp1der gmphics and interactive techniques in A ustralasia and South East Asia pages 111-118 New York NY USA 2003 ACM Press
[ 91 Rioux M a nd Domey J Lateral effect photodiode a new technique to obtain position signals Opto Eng 21(20) 1982
[no] Robertson C and Fisher R Parallel evolutionary registration of range data CorriquestplLter Vislon and mage Under-standing pages 39-50 2002
[91 ] Rusinkiewiczs S Real-time acquisition and rendering ol large 3D models PhD thesis Stanforu University 2001
[921 Saacutenchez F Reconstruccioacuten tridimensional de escenas con iluminacioacuten laacuteser aplicacioshynes a la fotogrametriacutea industrial PhD thesis UPM 2000
[931 Sappa A Range image registration by using an eugebaseu representation 200l httpwwwsiggraphorg
[941 Savchenko V Paseo V Okunev O and Kunni T Function representation of solids reconstructed form scattered surface points and contours Computer Graphics Fornm 14 1995
[9S] Schaback R caracterization and eonstruction of radial basis functions in multivariate approximaLion anu applicatioll Camurigde University PTess Nashville 2002
[9(-iJ Schut7c T Diskr-efe quadratmittelapproxaacutenation durch splines mit freien knoten PhD thesis i-IathemaLicx faculty 1998
1 ~)7 1 Schwartz J Iuentihcation of partially obscureu objects in two anu thrce uirnens ions by matching noisy characteristic curves nt Journal Robotics 6 1987
149
REFERENCIAS
101 Sehwetlick H Lcast squares
l~ ) 0 1 Silva L Bellon O and Boyer 1lt faee inter llctrat ion measurc anrl Anal da h nLell 27(5)762shy
[ luumlU] Silv bull
POI)
[102] St AlI
[1031 Stl
rlU4] Tan tiOIl
105] Tizia verli
1lH ij Turk 94
lU71Turk Comp
[lO8] Verspr form 1
~ l( 191 Weber critical
~ lluuml] Wcik S
bono pa
l u l Weillcrt nical rep
REFERENCIAS
[25] Chen S Object extraction from laser radar imagery Pattern Recognitiort 24 1991
[2h] Chen Y Object modeling by registration of multiple range images Jmage and Vision Computing 10 1992
[27J Chi-Fang 1 A new approach to high precision 3d measuring system Jmage Vision CompUting 17 1999
[2KJ Chow c Tsui H and Lee T Surface registration using a dynamic genetic algorithm Paltrm Recoynition 37(1)105-117 2004
l29J Chua C 3d free-form surface registration and object recognition International Journal oI Compllt er lIision 17 1996
[30] Cohen-Steiner D and Da F A greedy surface reconstruction algorithm Visual ComshypllteT 3113-146 H))4
[31 ] Cordero J and Parejo J CllTVaitJ illperficies pam modelado GeorneacutetTico Edicioacuten Alfa-Omega Espantildea 2004
[3 2J Cox Iv The numerical evaluation applications 10134- 139 1972
[33J Curless B ew methods for surface reconstruction from range Images Technical l1eport CSL-TI1-97-733 Stanford 1997
[HJ CurlCtiti B From range ticans to 3d models CompUteT Gmphici 33(4) 1()99
135] Curless B Tutorial overVleW of active vlslon techniques 2000 http wwwsiggraphorg
[36] Curless B and Levoy 111 A volumetric method for building complex models from range images CompUter Gmphici 30(Annual Confcrcncc Series)303-312 1996
ll7J Davis J ldarschner S Garr i and Levoy M Filling holes in complex surfaces using volumetric diffusion 2002
[38] De T and Goswami S Provable surface reconstruction from noisy samples CompUshytational Geornetry Theory and Application 35(1-2)124-141 2006
1391 Dong S Dremer P Garland M Paseucci V and Hart J Quadrangulating a mesh using laplacian eigenvectors Technical Repon UIUCDCS-R-2005-2583 2005
REFERENCIAS ~~~-------------------------
[4U] Dorai C and Jain A K COSIOS - Al JEtE Transactions on Paltem Analysil
1997
ln] Duchon J Spline minimizing rotation- trudiUe Th eory 01 Functiofls 01 sevcml
1121Erk lv1 and Hoppe H Autolllatic n C01I
logical typc ACM-O-89791-U IAacute--shy
~ 1 3 1
[111 EdcJbrunncr
for piccewis
on Gmphirs
4cJ1 Farin G CUT
hers Ine San
[lh l Faugucras O Juumal oI Ro
[471
[l ) GocEn G and iIlformatioll pa
[49) Gonzalf7 A Ad cas de luz estru
IjO1 Gopi M Krish locali iquestcd ddauu
[Si] Greenspan lV ar 161-168200l
[52] Gregorski B Han data points ProCl
1 -) -) 1 Ilnralick 11 Potie pection and NIeasu
REFERENCIAS
lser radar imagery Pattem Recognition 24 1991
ftration of multiple range images Imag e and Visl0n
high precision 3d measuring system Image Vision
face registration ~- uetic algorithm
ional J0((rnal
Visual Comshy
Edicioacuten
range
usmg
REFERENCIAS
140] Dorai C and Jain A K cosvros - A representation scheme for 3d free-form objects IEEE Tmnsactions 071 Pattern Analysis and Machin e Intelligence 19(10)1115-1130 1997
[4 1] Duchon J Spline minimizing rotation-invariant seminorms in sobo ley spaces Consshytructive Theory of Punctions of several Variables 57185-100 1997
1121 Eek M and Hoppc H Automatic rceonstruetioll of o-splillc surfacc of aroitrary toposhylogical type ACM-O-89191-141-4 8 1996
[4J j Edelsbrunner H Harer J and Zomorodians A Hierarchical morse-smale complexes for piecewise linear 2-manifolds Discrete Computo Geom 3087-107 2003
[U ] Edclsbrunncr H and Muckc E Thrcc-dimcnsional alpha shapcs ACM Transacfions 071 Graphics 13(1)43-72 1994
45 J Farin G Ourves and s(trfaces for CA G D a practical guide Morgan Kaufmann Publisshyhers Inc San Francisco CA USA 2002
r lfi] Faugueras O The representation recognition and locating of 3d objects Internatlonal Journal of Robotics Research 5 1986
[47] Feldmar J Rigid affine and locally affine registration of free-from surfaces International Journal of Computer Vision 18 1996
~48j Godin G and Rioux M Three dimensional registration using range and intensity information pagc 2350 1994
149] Gonzalez A Adquisicioacuten y modelado tridimensional en visioacuten artificial mediante teacutecnishycas de luz estructurada PhD thesis UPM 1998
[501 Gopi M Krishnan S and Silva C Surface reconstruction based on lower dimensional locali~ed dclaunay triangulation volurne HJ pagcs C467-C47t) 2000
[51] Greenspan M and Godin G A lIearest neigboour metbod for efficiellt lepo pages 161- 168 2001
[521 Gregorski B Hamann B and Joy D Reconstruction of b-spline surfaces from scattered data points Proceedings of Computer Graphics International 2000
I middot~)JI I-Iaralick TI Pose estimation frorn corresponding point data Machine Vision j(JT lnsshypection and Measurement 1989
146
REFERENCIAS
[J4] Hartigan J A and Wong M A A k-means clustering algorithm Applied Statistics 2~100-10~ 1979
I-iexcljl Hartley rr and Zisserman A Multiple view geometry in computer visiono Cambridge University second edition 2003
[5UI Hilton A On reliable surface reconstruction from multiple range images Technical report U ni versi ty of Surrey 1995
[571 Hoppe H SUrface reconstruction from unorganized points PhD thesis VIashington University 1994
[1f1 Hoppe H Derose T Duchamp T Mcdonald J and Stuetzle W Mesh optimization 1993 httpwwwsiggraphorg
[591 Hom D Closcd-form solution of oricntation using unit quartcrnions Joumal of Optica Society of America 4 1987
[GU] Hraacutedek J IIethods of surface reconstruction from scattered data Technical report Deshypartment of Computer Science and Engineering University of Aiacuteest Bohemiain Pilsen 2003
[61 j Jarvis R A perspective on range finding techniques for computer visiono IEEE Trans Pattern Anal Mach Intell 5 1983
[621 Johnson A Using spin images for efficient object recognition in cluttered 3d scenes IEEE Trans Pattern Anal Mach Intell 21 1999
[u31 Johnson A Kang S Registration and integration of textured 3-d data pages 234-241 1997
[64] Jung H A new parameterisation method for nurbs surface interpolation Advaneed ManUjacturing Technology 16 2000
[liFi [ Krishnamurthy V and Levoy M Fitting smooth surfaces to dense polygon meshes In SIGGRAPH 96 Conference Proceedings AGM SIGGRAPH Addison Wesley 1996
[60] Laurent P Optimization of a nurbs representation CompUter Aided Design 25 1999
[671 Levin D Mesh-independent surface interpolation Tedmical report Tel Aviv 69978 Israel 1999
[(j8] Loop C Smooth spline surfaces over irregular meshes Apple Computer Ine 1994
REFERENCIAS
Lorensen W and Cline H f Iarching eu algorithrn In SIGGRAPH tJ7 Procecdiiexcl gmphics and int emctivf l cchniqu es voh 1987 ACM Prc
[70] Lounsb ry M( Transactions
[7 ll Lozano E r
report Dep tario de ~la
l721Lucches0 Lj Pattern Aniexcl
iexcl-3] Marshal A
[7 l] Masuda T Computer
[ jI rlontegran 2004
17G Ivlyers A range dato Science 1
177] Ni X G structurc
[71Ni X G l
volumetri
[791 Park 1 unorgan
I (JI Panl Dil New Yo
181 1Peters
Plineiexcl [ 21 Piegl L
REFERENCIAS
A k-means clustering algorithm Applied Statistics
lltiple view geometry in computer visiono Carnbridge
~construction from multiple range images Technical 5
n fmm unorganized points PhD thesis Washington
r Mcdonald J ~l Stuetzle W Mesh optimization
Joumal of Optim
a Technical report DeshyTest Bohemiain Pilsen
IEEE Trans
pages 234-241
Advanced
v 69978
REFERENCIAS
[b9] Lorensen W and Cline H Marching cubes A high resolution 3d surface construction algorithrn In SIGGRAPH 87 Pmceedings oI the 14th anmwl conference on Computa graphics and interactive techniques volume 21 pages 163-169 New York NY USA 1987 AC1VI Press
170] Lounsbery M Multiresolution analysis for surfaces of arbitrary topological type ACM Transactions on Graphics 1998
[711 Lozano E Toacutepicos en reconocimiento de patrones funciones de base radial Technical report Departamento de tIatemaacuteticas Universidad de Puerto Rico Recinto Universishytario de Mayaguumlez 2002
[72] Lucchese L A frequency domain technique for range data registration IEEE Trans Pattern Analysis and Machine Intelligence 24 2002
[73] Marshal A Computer vision models and inspection World Scientific 1993
[711 Masuaa T A robust method for registration ana segmentation of rnultipll range irnages Comp1tter Vision and Image Understanding 61 1995
[75] Montegranario H Reconstruccioacuten de superficies mediante funciones de base radial 2004
[7(j] Myers A Introductory literature review surface reconstruction from three dimensional range data Technical report The University of Adclaidey Department of Computer Science 1999
[77] Ni X Garland M and Hart J Fair morse functions for extracting the topological structurc of a surface mesh ACM Trans Gmph 23(3)613-622 2004
[781 Ni X Garland M and Hart J Simplification and repair of polygonal models using volumetric techniques Proc SIGGRAPH TOG 233613-622 2004
[791 Park l Lee S and Yun 1 Constructing nurbs surface model from scaUered and unorganized range data 3dim 000312 1999
[80] Paul Dicrckx Curve and surface fitting with splines Oxford Univcrsity Press Inc New York Y USA 1993
[811 Peters J Constructing el surfaces of arbitrary topology using bicuadric and bicubic splines Desigruacuteng FaJr Curves and Surfaces 277-293 1994
IX2 J Piegl L and Tiller W The NURBS book Springer-Verlag London UK 1995
REFERENCIAS
[~3 ] Pito R Mesh integration based on comeasurements Proceedings ofICP 2 1996
[84] Pratt M J Geometric methods lor computer-aided designo
[85] Pulli K Surface reconstruction and display from range and color data PhD thesis University of Washington 1997
[86] Pulli K Multiview registration for large data sets 1999
[871 Randrianarivony M and Brunnett G Parallel implementation of surface reconstruction from noisy samples 2002 SFB preprint 02-16 Technische Universitat Chemnitz
[881 Reuter P Tobor L Schlick C and Dedieu S Point-based modelling and rendering u~ing radial ba- is functions In GRAPHTE 03 Proceedings of the 1st infernafional conference on Comp1der gmphics and interactive techniques in A ustralasia and South East Asia pages 111-118 New York NY USA 2003 ACM Press
[ 91 Rioux M a nd Domey J Lateral effect photodiode a new technique to obtain position signals Opto Eng 21(20) 1982
[no] Robertson C and Fisher R Parallel evolutionary registration of range data CorriquestplLter Vislon and mage Under-standing pages 39-50 2002
[91 ] Rusinkiewiczs S Real-time acquisition and rendering ol large 3D models PhD thesis Stanforu University 2001
[921 Saacutenchez F Reconstruccioacuten tridimensional de escenas con iluminacioacuten laacuteser aplicacioshynes a la fotogrametriacutea industrial PhD thesis UPM 2000
[931 Sappa A Range image registration by using an eugebaseu representation 200l httpwwwsiggraphorg
[941 Savchenko V Paseo V Okunev O and Kunni T Function representation of solids reconstructed form scattered surface points and contours Computer Graphics Fornm 14 1995
[9S] Schaback R caracterization and eonstruction of radial basis functions in multivariate approximaLion anu applicatioll Camurigde University PTess Nashville 2002
[9(-iJ Schut7c T Diskr-efe quadratmittelapproxaacutenation durch splines mit freien knoten PhD thesis i-IathemaLicx faculty 1998
1 ~)7 1 Schwartz J Iuentihcation of partially obscureu objects in two anu thrce uirnens ions by matching noisy characteristic curves nt Journal Robotics 6 1987
149
REFERENCIAS
101 Sehwetlick H Lcast squares
l~ ) 0 1 Silva L Bellon O and Boyer 1lt faee inter llctrat ion measurc anrl Anal da h nLell 27(5)762shy
[ luumlU] Silv bull
POI)
[102] St AlI
[1031 Stl
rlU4] Tan tiOIl
105] Tizia verli
1lH ij Turk 94
lU71Turk Comp
[lO8] Verspr form 1
~ l( 191 Weber critical
~ lluuml] Wcik S
bono pa
l u l Weillcrt nical rep
REFERENCIAS
lser radar imagery Pattem Recognition 24 1991
ftration of multiple range images Imag e and Visl0n
high precision 3d measuring system Image Vision
face registration ~- uetic algorithm
ional J0((rnal
Visual Comshy
Edicioacuten
range
usmg
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140] Dorai C and Jain A K cosvros - A representation scheme for 3d free-form objects IEEE Tmnsactions 071 Pattern Analysis and Machin e Intelligence 19(10)1115-1130 1997
[4 1] Duchon J Spline minimizing rotation-invariant seminorms in sobo ley spaces Consshytructive Theory of Punctions of several Variables 57185-100 1997
1121 Eek M and Hoppc H Automatic rceonstruetioll of o-splillc surfacc of aroitrary toposhylogical type ACM-O-89191-141-4 8 1996
[4J j Edelsbrunner H Harer J and Zomorodians A Hierarchical morse-smale complexes for piecewise linear 2-manifolds Discrete Computo Geom 3087-107 2003
[U ] Edclsbrunncr H and Muckc E Thrcc-dimcnsional alpha shapcs ACM Transacfions 071 Graphics 13(1)43-72 1994
45 J Farin G Ourves and s(trfaces for CA G D a practical guide Morgan Kaufmann Publisshyhers Inc San Francisco CA USA 2002
r lfi] Faugueras O The representation recognition and locating of 3d objects Internatlonal Journal of Robotics Research 5 1986
[47] Feldmar J Rigid affine and locally affine registration of free-from surfaces International Journal of Computer Vision 18 1996
~48j Godin G and Rioux M Three dimensional registration using range and intensity information pagc 2350 1994
149] Gonzalez A Adquisicioacuten y modelado tridimensional en visioacuten artificial mediante teacutecnishycas de luz estructurada PhD thesis UPM 1998
[501 Gopi M Krishnan S and Silva C Surface reconstruction based on lower dimensional locali~ed dclaunay triangulation volurne HJ pagcs C467-C47t) 2000
[51] Greenspan M and Godin G A lIearest neigboour metbod for efficiellt lepo pages 161- 168 2001
[521 Gregorski B Hamann B and Joy D Reconstruction of b-spline surfaces from scattered data points Proceedings of Computer Graphics International 2000
I middot~)JI I-Iaralick TI Pose estimation frorn corresponding point data Machine Vision j(JT lnsshypection and Measurement 1989
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REFERENCIAS
[J4] Hartigan J A and Wong M A A k-means clustering algorithm Applied Statistics 2~100-10~ 1979
I-iexcljl Hartley rr and Zisserman A Multiple view geometry in computer visiono Cambridge University second edition 2003
[5UI Hilton A On reliable surface reconstruction from multiple range images Technical report U ni versi ty of Surrey 1995
[571 Hoppe H SUrface reconstruction from unorganized points PhD thesis VIashington University 1994
[1f1 Hoppe H Derose T Duchamp T Mcdonald J and Stuetzle W Mesh optimization 1993 httpwwwsiggraphorg
[591 Hom D Closcd-form solution of oricntation using unit quartcrnions Joumal of Optica Society of America 4 1987
[GU] Hraacutedek J IIethods of surface reconstruction from scattered data Technical report Deshypartment of Computer Science and Engineering University of Aiacuteest Bohemiain Pilsen 2003
[61 j Jarvis R A perspective on range finding techniques for computer visiono IEEE Trans Pattern Anal Mach Intell 5 1983
[621 Johnson A Using spin images for efficient object recognition in cluttered 3d scenes IEEE Trans Pattern Anal Mach Intell 21 1999
[u31 Johnson A Kang S Registration and integration of textured 3-d data pages 234-241 1997
[64] Jung H A new parameterisation method for nurbs surface interpolation Advaneed ManUjacturing Technology 16 2000
[liFi [ Krishnamurthy V and Levoy M Fitting smooth surfaces to dense polygon meshes In SIGGRAPH 96 Conference Proceedings AGM SIGGRAPH Addison Wesley 1996
[60] Laurent P Optimization of a nurbs representation CompUter Aided Design 25 1999
[671 Levin D Mesh-independent surface interpolation Tedmical report Tel Aviv 69978 Israel 1999
[(j8] Loop C Smooth spline surfaces over irregular meshes Apple Computer Ine 1994
REFERENCIAS
Lorensen W and Cline H f Iarching eu algorithrn In SIGGRAPH tJ7 Procecdiiexcl gmphics and int emctivf l cchniqu es voh 1987 ACM Prc
[70] Lounsb ry M( Transactions
[7 ll Lozano E r
report Dep tario de ~la
l721Lucches0 Lj Pattern Aniexcl
iexcl-3] Marshal A
[7 l] Masuda T Computer
[ jI rlontegran 2004
17G Ivlyers A range dato Science 1
177] Ni X G structurc
[71Ni X G l
volumetri
[791 Park 1 unorgan
I (JI Panl Dil New Yo
181 1Peters
Plineiexcl [ 21 Piegl L
REFERENCIAS
A k-means clustering algorithm Applied Statistics
lltiple view geometry in computer visiono Carnbridge
~construction from multiple range images Technical 5
n fmm unorganized points PhD thesis Washington
r Mcdonald J ~l Stuetzle W Mesh optimization
Joumal of Optim
a Technical report DeshyTest Bohemiain Pilsen
IEEE Trans
pages 234-241
Advanced
v 69978
REFERENCIAS
[b9] Lorensen W and Cline H Marching cubes A high resolution 3d surface construction algorithrn In SIGGRAPH 87 Pmceedings oI the 14th anmwl conference on Computa graphics and interactive techniques volume 21 pages 163-169 New York NY USA 1987 AC1VI Press
170] Lounsbery M Multiresolution analysis for surfaces of arbitrary topological type ACM Transactions on Graphics 1998
[711 Lozano E Toacutepicos en reconocimiento de patrones funciones de base radial Technical report Departamento de tIatemaacuteticas Universidad de Puerto Rico Recinto Universishytario de Mayaguumlez 2002
[72] Lucchese L A frequency domain technique for range data registration IEEE Trans Pattern Analysis and Machine Intelligence 24 2002
[73] Marshal A Computer vision models and inspection World Scientific 1993
[711 Masuaa T A robust method for registration ana segmentation of rnultipll range irnages Comp1tter Vision and Image Understanding 61 1995
[75] Montegranario H Reconstruccioacuten de superficies mediante funciones de base radial 2004
[7(j] Myers A Introductory literature review surface reconstruction from three dimensional range data Technical report The University of Adclaidey Department of Computer Science 1999
[77] Ni X Garland M and Hart J Fair morse functions for extracting the topological structurc of a surface mesh ACM Trans Gmph 23(3)613-622 2004
[781 Ni X Garland M and Hart J Simplification and repair of polygonal models using volumetric techniques Proc SIGGRAPH TOG 233613-622 2004
[791 Park l Lee S and Yun 1 Constructing nurbs surface model from scaUered and unorganized range data 3dim 000312 1999
[80] Paul Dicrckx Curve and surface fitting with splines Oxford Univcrsity Press Inc New York Y USA 1993
[811 Peters J Constructing el surfaces of arbitrary topology using bicuadric and bicubic splines Desigruacuteng FaJr Curves and Surfaces 277-293 1994
IX2 J Piegl L and Tiller W The NURBS book Springer-Verlag London UK 1995
REFERENCIAS
[~3 ] Pito R Mesh integration based on comeasurements Proceedings ofICP 2 1996
[84] Pratt M J Geometric methods lor computer-aided designo
[85] Pulli K Surface reconstruction and display from range and color data PhD thesis University of Washington 1997
[86] Pulli K Multiview registration for large data sets 1999
[871 Randrianarivony M and Brunnett G Parallel implementation of surface reconstruction from noisy samples 2002 SFB preprint 02-16 Technische Universitat Chemnitz
[881 Reuter P Tobor L Schlick C and Dedieu S Point-based modelling and rendering u~ing radial ba- is functions In GRAPHTE 03 Proceedings of the 1st infernafional conference on Comp1der gmphics and interactive techniques in A ustralasia and South East Asia pages 111-118 New York NY USA 2003 ACM Press
[ 91 Rioux M a nd Domey J Lateral effect photodiode a new technique to obtain position signals Opto Eng 21(20) 1982
[no] Robertson C and Fisher R Parallel evolutionary registration of range data CorriquestplLter Vislon and mage Under-standing pages 39-50 2002
[91 ] Rusinkiewiczs S Real-time acquisition and rendering ol large 3D models PhD thesis Stanforu University 2001
[921 Saacutenchez F Reconstruccioacuten tridimensional de escenas con iluminacioacuten laacuteser aplicacioshynes a la fotogrametriacutea industrial PhD thesis UPM 2000
[931 Sappa A Range image registration by using an eugebaseu representation 200l httpwwwsiggraphorg
[941 Savchenko V Paseo V Okunev O and Kunni T Function representation of solids reconstructed form scattered surface points and contours Computer Graphics Fornm 14 1995
[9S] Schaback R caracterization and eonstruction of radial basis functions in multivariate approximaLion anu applicatioll Camurigde University PTess Nashville 2002
[9(-iJ Schut7c T Diskr-efe quadratmittelapproxaacutenation durch splines mit freien knoten PhD thesis i-IathemaLicx faculty 1998
1 ~)7 1 Schwartz J Iuentihcation of partially obscureu objects in two anu thrce uirnens ions by matching noisy characteristic curves nt Journal Robotics 6 1987
149
REFERENCIAS
101 Sehwetlick H Lcast squares
l~ ) 0 1 Silva L Bellon O and Boyer 1lt faee inter llctrat ion measurc anrl Anal da h nLell 27(5)762shy
[ luumlU] Silv bull
POI)
[102] St AlI
[1031 Stl
rlU4] Tan tiOIl
105] Tizia verli
1lH ij Turk 94
lU71Turk Comp
[lO8] Verspr form 1
~ l( 191 Weber critical
~ lluuml] Wcik S
bono pa
l u l Weillcrt nical rep
REFERENCIAS
[J4] Hartigan J A and Wong M A A k-means clustering algorithm Applied Statistics 2~100-10~ 1979
I-iexcljl Hartley rr and Zisserman A Multiple view geometry in computer visiono Cambridge University second edition 2003
[5UI Hilton A On reliable surface reconstruction from multiple range images Technical report U ni versi ty of Surrey 1995
[571 Hoppe H SUrface reconstruction from unorganized points PhD thesis VIashington University 1994
[1f1 Hoppe H Derose T Duchamp T Mcdonald J and Stuetzle W Mesh optimization 1993 httpwwwsiggraphorg
[591 Hom D Closcd-form solution of oricntation using unit quartcrnions Joumal of Optica Society of America 4 1987
[GU] Hraacutedek J IIethods of surface reconstruction from scattered data Technical report Deshypartment of Computer Science and Engineering University of Aiacuteest Bohemiain Pilsen 2003
[61 j Jarvis R A perspective on range finding techniques for computer visiono IEEE Trans Pattern Anal Mach Intell 5 1983
[621 Johnson A Using spin images for efficient object recognition in cluttered 3d scenes IEEE Trans Pattern Anal Mach Intell 21 1999
[u31 Johnson A Kang S Registration and integration of textured 3-d data pages 234-241 1997
[64] Jung H A new parameterisation method for nurbs surface interpolation Advaneed ManUjacturing Technology 16 2000
[liFi [ Krishnamurthy V and Levoy M Fitting smooth surfaces to dense polygon meshes In SIGGRAPH 96 Conference Proceedings AGM SIGGRAPH Addison Wesley 1996
[60] Laurent P Optimization of a nurbs representation CompUter Aided Design 25 1999
[671 Levin D Mesh-independent surface interpolation Tedmical report Tel Aviv 69978 Israel 1999
[(j8] Loop C Smooth spline surfaces over irregular meshes Apple Computer Ine 1994
REFERENCIAS
Lorensen W and Cline H f Iarching eu algorithrn In SIGGRAPH tJ7 Procecdiiexcl gmphics and int emctivf l cchniqu es voh 1987 ACM Prc
[70] Lounsb ry M( Transactions
[7 ll Lozano E r
report Dep tario de ~la
l721Lucches0 Lj Pattern Aniexcl
iexcl-3] Marshal A
[7 l] Masuda T Computer
[ jI rlontegran 2004
17G Ivlyers A range dato Science 1
177] Ni X G structurc
[71Ni X G l
volumetri
[791 Park 1 unorgan
I (JI Panl Dil New Yo
181 1Peters
Plineiexcl [ 21 Piegl L
REFERENCIAS
A k-means clustering algorithm Applied Statistics
lltiple view geometry in computer visiono Carnbridge
~construction from multiple range images Technical 5
n fmm unorganized points PhD thesis Washington
r Mcdonald J ~l Stuetzle W Mesh optimization
Joumal of Optim
a Technical report DeshyTest Bohemiain Pilsen
IEEE Trans
pages 234-241
Advanced
v 69978
REFERENCIAS
[b9] Lorensen W and Cline H Marching cubes A high resolution 3d surface construction algorithrn In SIGGRAPH 87 Pmceedings oI the 14th anmwl conference on Computa graphics and interactive techniques volume 21 pages 163-169 New York NY USA 1987 AC1VI Press
170] Lounsbery M Multiresolution analysis for surfaces of arbitrary topological type ACM Transactions on Graphics 1998
[711 Lozano E Toacutepicos en reconocimiento de patrones funciones de base radial Technical report Departamento de tIatemaacuteticas Universidad de Puerto Rico Recinto Universishytario de Mayaguumlez 2002
[72] Lucchese L A frequency domain technique for range data registration IEEE Trans Pattern Analysis and Machine Intelligence 24 2002
[73] Marshal A Computer vision models and inspection World Scientific 1993
[711 Masuaa T A robust method for registration ana segmentation of rnultipll range irnages Comp1tter Vision and Image Understanding 61 1995
[75] Montegranario H Reconstruccioacuten de superficies mediante funciones de base radial 2004
[7(j] Myers A Introductory literature review surface reconstruction from three dimensional range data Technical report The University of Adclaidey Department of Computer Science 1999
[77] Ni X Garland M and Hart J Fair morse functions for extracting the topological structurc of a surface mesh ACM Trans Gmph 23(3)613-622 2004
[781 Ni X Garland M and Hart J Simplification and repair of polygonal models using volumetric techniques Proc SIGGRAPH TOG 233613-622 2004
[791 Park l Lee S and Yun 1 Constructing nurbs surface model from scaUered and unorganized range data 3dim 000312 1999
[80] Paul Dicrckx Curve and surface fitting with splines Oxford Univcrsity Press Inc New York Y USA 1993
[811 Peters J Constructing el surfaces of arbitrary topology using bicuadric and bicubic splines Desigruacuteng FaJr Curves and Surfaces 277-293 1994
IX2 J Piegl L and Tiller W The NURBS book Springer-Verlag London UK 1995
REFERENCIAS
[~3 ] Pito R Mesh integration based on comeasurements Proceedings ofICP 2 1996
[84] Pratt M J Geometric methods lor computer-aided designo
[85] Pulli K Surface reconstruction and display from range and color data PhD thesis University of Washington 1997
[86] Pulli K Multiview registration for large data sets 1999
[871 Randrianarivony M and Brunnett G Parallel implementation of surface reconstruction from noisy samples 2002 SFB preprint 02-16 Technische Universitat Chemnitz
[881 Reuter P Tobor L Schlick C and Dedieu S Point-based modelling and rendering u~ing radial ba- is functions In GRAPHTE 03 Proceedings of the 1st infernafional conference on Comp1der gmphics and interactive techniques in A ustralasia and South East Asia pages 111-118 New York NY USA 2003 ACM Press
[ 91 Rioux M a nd Domey J Lateral effect photodiode a new technique to obtain position signals Opto Eng 21(20) 1982
[no] Robertson C and Fisher R Parallel evolutionary registration of range data CorriquestplLter Vislon and mage Under-standing pages 39-50 2002
[91 ] Rusinkiewiczs S Real-time acquisition and rendering ol large 3D models PhD thesis Stanforu University 2001
[921 Saacutenchez F Reconstruccioacuten tridimensional de escenas con iluminacioacuten laacuteser aplicacioshynes a la fotogrametriacutea industrial PhD thesis UPM 2000
[931 Sappa A Range image registration by using an eugebaseu representation 200l httpwwwsiggraphorg
[941 Savchenko V Paseo V Okunev O and Kunni T Function representation of solids reconstructed form scattered surface points and contours Computer Graphics Fornm 14 1995
[9S] Schaback R caracterization and eonstruction of radial basis functions in multivariate approximaLion anu applicatioll Camurigde University PTess Nashville 2002
[9(-iJ Schut7c T Diskr-efe quadratmittelapproxaacutenation durch splines mit freien knoten PhD thesis i-IathemaLicx faculty 1998
1 ~)7 1 Schwartz J Iuentihcation of partially obscureu objects in two anu thrce uirnens ions by matching noisy characteristic curves nt Journal Robotics 6 1987
149
REFERENCIAS
101 Sehwetlick H Lcast squares
l~ ) 0 1 Silva L Bellon O and Boyer 1lt faee inter llctrat ion measurc anrl Anal da h nLell 27(5)762shy
[ luumlU] Silv bull
POI)
[102] St AlI
[1031 Stl
rlU4] Tan tiOIl
105] Tizia verli
1lH ij Turk 94
lU71Turk Comp
[lO8] Verspr form 1
~ l( 191 Weber critical
~ lluuml] Wcik S
bono pa
l u l Weillcrt nical rep
REFERENCIAS
A k-means clustering algorithm Applied Statistics
lltiple view geometry in computer visiono Carnbridge
~construction from multiple range images Technical 5
n fmm unorganized points PhD thesis Washington
r Mcdonald J ~l Stuetzle W Mesh optimization
Joumal of Optim
a Technical report DeshyTest Bohemiain Pilsen
IEEE Trans
pages 234-241
Advanced
v 69978
REFERENCIAS
[b9] Lorensen W and Cline H Marching cubes A high resolution 3d surface construction algorithrn In SIGGRAPH 87 Pmceedings oI the 14th anmwl conference on Computa graphics and interactive techniques volume 21 pages 163-169 New York NY USA 1987 AC1VI Press
170] Lounsbery M Multiresolution analysis for surfaces of arbitrary topological type ACM Transactions on Graphics 1998
[711 Lozano E Toacutepicos en reconocimiento de patrones funciones de base radial Technical report Departamento de tIatemaacuteticas Universidad de Puerto Rico Recinto Universishytario de Mayaguumlez 2002
[72] Lucchese L A frequency domain technique for range data registration IEEE Trans Pattern Analysis and Machine Intelligence 24 2002
[73] Marshal A Computer vision models and inspection World Scientific 1993
[711 Masuaa T A robust method for registration ana segmentation of rnultipll range irnages Comp1tter Vision and Image Understanding 61 1995
[75] Montegranario H Reconstruccioacuten de superficies mediante funciones de base radial 2004
[7(j] Myers A Introductory literature review surface reconstruction from three dimensional range data Technical report The University of Adclaidey Department of Computer Science 1999
[77] Ni X Garland M and Hart J Fair morse functions for extracting the topological structurc of a surface mesh ACM Trans Gmph 23(3)613-622 2004
[781 Ni X Garland M and Hart J Simplification and repair of polygonal models using volumetric techniques Proc SIGGRAPH TOG 233613-622 2004
[791 Park l Lee S and Yun 1 Constructing nurbs surface model from scaUered and unorganized range data 3dim 000312 1999
[80] Paul Dicrckx Curve and surface fitting with splines Oxford Univcrsity Press Inc New York Y USA 1993
[811 Peters J Constructing el surfaces of arbitrary topology using bicuadric and bicubic splines Desigruacuteng FaJr Curves and Surfaces 277-293 1994
IX2 J Piegl L and Tiller W The NURBS book Springer-Verlag London UK 1995
REFERENCIAS
[~3 ] Pito R Mesh integration based on comeasurements Proceedings ofICP 2 1996
[84] Pratt M J Geometric methods lor computer-aided designo
[85] Pulli K Surface reconstruction and display from range and color data PhD thesis University of Washington 1997
[86] Pulli K Multiview registration for large data sets 1999
[871 Randrianarivony M and Brunnett G Parallel implementation of surface reconstruction from noisy samples 2002 SFB preprint 02-16 Technische Universitat Chemnitz
[881 Reuter P Tobor L Schlick C and Dedieu S Point-based modelling and rendering u~ing radial ba- is functions In GRAPHTE 03 Proceedings of the 1st infernafional conference on Comp1der gmphics and interactive techniques in A ustralasia and South East Asia pages 111-118 New York NY USA 2003 ACM Press
[ 91 Rioux M a nd Domey J Lateral effect photodiode a new technique to obtain position signals Opto Eng 21(20) 1982
[no] Robertson C and Fisher R Parallel evolutionary registration of range data CorriquestplLter Vislon and mage Under-standing pages 39-50 2002
[91 ] Rusinkiewiczs S Real-time acquisition and rendering ol large 3D models PhD thesis Stanforu University 2001
[921 Saacutenchez F Reconstruccioacuten tridimensional de escenas con iluminacioacuten laacuteser aplicacioshynes a la fotogrametriacutea industrial PhD thesis UPM 2000
[931 Sappa A Range image registration by using an eugebaseu representation 200l httpwwwsiggraphorg
[941 Savchenko V Paseo V Okunev O and Kunni T Function representation of solids reconstructed form scattered surface points and contours Computer Graphics Fornm 14 1995
[9S] Schaback R caracterization and eonstruction of radial basis functions in multivariate approximaLion anu applicatioll Camurigde University PTess Nashville 2002
[9(-iJ Schut7c T Diskr-efe quadratmittelapproxaacutenation durch splines mit freien knoten PhD thesis i-IathemaLicx faculty 1998
1 ~)7 1 Schwartz J Iuentihcation of partially obscureu objects in two anu thrce uirnens ions by matching noisy characteristic curves nt Journal Robotics 6 1987
149
REFERENCIAS
101 Sehwetlick H Lcast squares
l~ ) 0 1 Silva L Bellon O and Boyer 1lt faee inter llctrat ion measurc anrl Anal da h nLell 27(5)762shy
[ luumlU] Silv bull
POI)
[102] St AlI
[1031 Stl
rlU4] Tan tiOIl
105] Tizia verli
1lH ij Turk 94
lU71Turk Comp
[lO8] Verspr form 1
~ l( 191 Weber critical
~ lluuml] Wcik S
bono pa
l u l Weillcrt nical rep
REFERENCIAS
[~3 ] Pito R Mesh integration based on comeasurements Proceedings ofICP 2 1996
[84] Pratt M J Geometric methods lor computer-aided designo
[85] Pulli K Surface reconstruction and display from range and color data PhD thesis University of Washington 1997
[86] Pulli K Multiview registration for large data sets 1999
[871 Randrianarivony M and Brunnett G Parallel implementation of surface reconstruction from noisy samples 2002 SFB preprint 02-16 Technische Universitat Chemnitz
[881 Reuter P Tobor L Schlick C and Dedieu S Point-based modelling and rendering u~ing radial ba- is functions In GRAPHTE 03 Proceedings of the 1st infernafional conference on Comp1der gmphics and interactive techniques in A ustralasia and South East Asia pages 111-118 New York NY USA 2003 ACM Press
[ 91 Rioux M a nd Domey J Lateral effect photodiode a new technique to obtain position signals Opto Eng 21(20) 1982
[no] Robertson C and Fisher R Parallel evolutionary registration of range data CorriquestplLter Vislon and mage Under-standing pages 39-50 2002
[91 ] Rusinkiewiczs S Real-time acquisition and rendering ol large 3D models PhD thesis Stanforu University 2001
[921 Saacutenchez F Reconstruccioacuten tridimensional de escenas con iluminacioacuten laacuteser aplicacioshynes a la fotogrametriacutea industrial PhD thesis UPM 2000
[931 Sappa A Range image registration by using an eugebaseu representation 200l httpwwwsiggraphorg
[941 Savchenko V Paseo V Okunev O and Kunni T Function representation of solids reconstructed form scattered surface points and contours Computer Graphics Fornm 14 1995
[9S] Schaback R caracterization and eonstruction of radial basis functions in multivariate approximaLion anu applicatioll Camurigde University PTess Nashville 2002
[9(-iJ Schut7c T Diskr-efe quadratmittelapproxaacutenation durch splines mit freien knoten PhD thesis i-IathemaLicx faculty 1998
1 ~)7 1 Schwartz J Iuentihcation of partially obscureu objects in two anu thrce uirnens ions by matching noisy characteristic curves nt Journal Robotics 6 1987
149
REFERENCIAS
101 Sehwetlick H Lcast squares
l~ ) 0 1 Silva L Bellon O and Boyer 1lt faee inter llctrat ion measurc anrl Anal da h nLell 27(5)762shy
[ luumlU] Silv bull
POI)
[102] St AlI
[1031 Stl
rlU4] Tan tiOIl
105] Tizia verli
1lH ij Turk 94
lU71Turk Comp
[lO8] Verspr form 1
~ l( 191 Weber critical
~ lluuml] Wcik S
bono pa
l u l Weillcrt nical rep
