Direct Directional Chamfer Optimization: D²CO

• Marco Imperoli and Alberto Pretto “D²CO: Fast and Robust Registration of 3D Textureless Objects Using the Directional Chamfer Distance” In Proceedings of the 10th International Conference on Computer Vision Systems (ICVS 2015), July 6-9 , 2015 Copenhagen, Denmark, pages: 316-328.
  (PDF, bibtex)
  

  @inproceedings{miap_icvs2015,
    author={Imperoli, Marco and Pretto, Alberto},
    title={{D\textsuperscript{2}CO}: Fast and Robust Registration of {3D} Textureless Objects Using the {Directional Chamfer Distance}},
    booktitle={Proc. of 10th International Conference on Computer Vision Systems (ICVS 2015)},
    year={2015},
    pages={316--328}
  }

In this work we proposed a fast and robust 3D object registration method. The key idea of the D²CO registration algorithm is to refine the parameters (i.e., the object pose) using a cost function that exploits the Directional Chamfer Distance (DCD) tensor in a direct way, i.e. by retrieving the costs and the derivatives directly from the tensor. Differently from other registration algorithms based on the ICP method, D²CO does not require to re-compute the point-to-point correspondences, since the data association is implicitly encoded in the DCD tensor.
Further information can be found at www.dis.uniroma1.it/~labrococo/D2CO/

Correct registrations rate plotted against the distance (angle + translation) of the initial guess from the ground truth position (each plot is referred to a different object).