Paper
Stefano Pellegrini Konrad Schindler and Daniele Nardi,
"A Generalization of the ICP Algorithm for Articulated Bodies",
British Machine Vision Conference (BMVC'08), September 2008
pdf
@InProceedings{eth_biwi_00559,
author = {Stefano Pellegrini and Konrad Schindler and Daniele Nardi},
title = {A Generalization of the ICP Algorithm for Articulated Bodies},
booktitle = {British Machine Vision Conference (BMVC'08)},
year = {2008},
month = {September},
editor = {M. Everingham and C. Needham},
keywords = {}
}
Results
video sequence (22M) - results
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The ICP algorithm has been extensively used in computer vision for registration and tracking purposes.
The original formulation of this method is restricted to the use of non-articulated models. A straightforward
generalisation to articulated structures is achievable through the joint minimisation of all the structure
pose parameters, for example using Levenberg-Marquardt (LM) optimisation. However,
in this approach the aligning transformation cannot be estimated in closed form,
like in the original ICP, and the approach heavily suffers from local minima.
We prepose a generalisation of ICP to articulated structures, which preserves
all the properties of the original algorithm. The key idea is to divide the articulated
body into parts, which can be aligned rigidly in the way of the original ICP, with
additional constraints to keep the articulated structure intact. Experiments show
that our method reduces the residual registration error by a factor of ~2.