Fast Coherent Point Drift

06/11/2020
by   Xiang-Wei Feng, et al.
0

Nonrigid point set registration is widely applied in the tasks of computer vision and pattern recognition. Coherent point drift (CPD) is a classical method for nonrigid point set registration. However, to solve spatial transformation functions, CPD has to compute inversion of a M*M matrix per iteration with time complexity O(M3). By introducing a simple corresponding constraint, we develop a fast implementation of CPD. The most advantage of our method is to avoid matrix-inverse operation. Before the iteration begins, our method requires to take eigenvalue decomposition of a M*M matrix once. After iteration begins, our method only needs to update a diagonal matrix with linear computational complexity, and perform matrix multiplication operation with time complexity approximately O(M2) in each iteration. Besides, our method can be further accelerated by the low-rank matrix approximation. Experimental results in 3D point cloud data show that our method can significantly reduce computation burden of the registration process, and keep comparable performance with CPD on accuracy.

READ FULL TEXT
research
03/28/2021

LSG-CPD: Coherent Point Drift with Local Surface Geometry for Point Cloud Registration

Probabilistic point cloud registration methods are becoming more popular...
research
02/23/2017

Fast generalized Bruhat decomposition

The deterministic recursive pivot-free algorithms for the computation of...
research
08/06/2019

Acceleration of rank-constrained spatial covariance matrix estimation for blind speech extraction

In this paper, we propose new accelerated update rules for rank-constrai...
research
02/12/2020

Fast computation of optimal damping parameters for linear vibrational systems

We formulate the quadratic eigenvalue problem underlying the mathematica...
research
03/19/2018

Low Rank Matrix Approximation for Geometry Filtering

We propose a robust, anisotropic normal estimation method for both point...
research
07/10/2019

Barnes-Hut Approximation for Point SetGeodesic Shooting

Geodesic shooting has been successfully applied to diffeo-morphic regist...
research
01/23/2022

Large-Dimensional Multibody Dynamics Simulation Using Contact Nodalization and Diagonalization

We propose a novel multibody dynamics simulation framework that can effi...

Please sign up or login with your details

Forgot password? Click here to reset