A Hybrid Correspondence Algorithm For Motion Estimation From Range Images
Nasser Kehtarnavaz, Suhas Mohan · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1989
A hybrid correspondence algorithm is presented to improve a previously developed framework for estimating motion of a moving object from its range image frames. Range images are represented by relational graphs in which a node indicates a view-invariant patch on the object surface and an edge the adjacency of two such patches. To a node, sign of Gaussian curvature and to an edge, distance between centers of mass are assigned as attributes. To estimate motion between consecutive range image frames, a correspondence algorithm is required to detect the largest common subgraph in the two representing relational graphs, i.e. to detect the surface part visible in both range image frames. The developed hybrid algorithm overcomes matching ambiguities for those graphs having a star structure. It combines the advantages of the previously developed correspondence algorithms by considering both the adjacency between a patch and its neighbors and the adjacency among neighbors themselves.