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研究生:黃政偉
研究生(外文):Cheng-Wei Huang
論文名稱:遺傳演算法於三維影像粗疊之應用
論文名稱(外文):The Application of Genetic Algorithms in Rough Registration of Three-dimensional Range Images
指導教授:謝中奇謝中奇引用關係
指導教授(外文):Chung-Chi Hsieh
學位類別:碩士
校院名稱:國立成功大學
系所名稱:工業管理科學系碩博士班
學門:商業及管理學門
學類:其他商業及管理學類
論文種類:學術論文
論文出版年:2002
畢業學年度:90
語文別:英文
論文頁數:58
中文關鍵詞:三維影像疊合遺傳演算法
外文關鍵詞:genetic algorithmsregistration
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The goal of registration is to align three-dimensional (3D) range images taken from different views by determining the optimal transformation parameters. In order
to reduce the computing time, the procedure of registering 3D range images general-
ly consists of two stages: (1) rough registration and (2) refined registration. Rough
registration is to roughly register two 3D range images so that the relative positions
between the registered images are close, whereas refined registration is to obtain a
more accurate transformation parameters. The iterative closest point (ICP) algorithm
is commonly adopted for refined registration. The purpose of the study is to solve the
rough registration problem by matching the attributes of certain data points on the
3D range images. Because the attribute matching is highly combinatorial, a heuristic
method is developed.
ACKNOWLEDGEMENTS : : : : : : : : : : : : : : : : : : : : : : : : : : : ii
LIST OF TABLES : : : : : : : : : : : : : : : : : : : : : : : : : : : : v
LIST OF IGURES : : : : : : : : : : : : : : : : : : : : : : : : : : : : vi
LIST OF APPENDICES : : : : : : : : : : : : : : : : : : : : : : : : : : viii

CHAPTER
I. INTRODUCTION . .. . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Assumptions . . .. . . . . . . . . . . . . . . . . . . . . . . . . 2
1.4 Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

II. LITERATURE REVIEW . . . . . . . . . . . . . . . . . . . . . . . . 4
2.1 Object Reconstruction Procedure . . . . . . . . . . . . . . . . . 4
2.1.1 Acquisition of Range Images . . . . . . . . . . . . . . . . . . 4
2.1.2 Registration of Range Images . . . . . . . . . . . . . . . . . . 6
2.1.3 Integration of Range Images . . . . . . . . . . . . . .. . . . . 7
2.2 Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2.1 Rough Registration . . . . . . . . . . . .. . . . . . . . . . . 8
2.2.2 Refined Registration . . . . . . . . . . . . . . . .. . . . . . 10
2.3 Genetic Algorithms . . . . . . . . . . . . . . . . . . . . . . . . 11
2.4 Applications of Genetic Algorithms . . . . . . . . . . . . . . . . 13

III. METHODOLOGY . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.1 Parabolic Points . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2 Formulating Rough Registration Problem . . . . . . . . . . . . . . 19
3.3 Genetic Optimization . . . . . . . . . . . . . . . . . . . . . . . 21
3.3.1 Representation . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.3.2 Crossover . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.3.3 Mutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.3.4 Evaluation Function . . . . . . . . . . . .. . . . . . . . . .. 22
3.4 Mean Square Error Function . . . . . . . . . . . . . . . . . . . . 24

IV. EXPERIMENTAL STUDY . . . . . . . . . . . . . . . . . . . . . . . . 26
4.1 Fully-Contained Rough Registration . . . . . . . . . . . . . . . . 26
4.2 Partially-Overlapping Rough Registration . . . . . . . . . . . . . 31

V. SUMMARY AND FUTURE DIRECTIONS . . . . . . . . . . . . . . . . . . . 40
REFERENCES : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : 41
APPENDICES : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : 44
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Besl, P. and McKay, N. A method for registration of 3-d shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence, 14, 239–256, 1992.

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Brunnstrom, K. and Stoddart, A. 1996. Genetic algorithms for free-form surface
matching. In Proceedings of the IEEE conference on pattern recognition (pp.
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Chen, C., Hung, Y. and Cheng, J. 1998. A fast automatic method for registration for partially-overlapping range image. In Sixth international conference on computer vision (pp. 242–248). In ICCV 98.

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