inria-00330584, version 1
Rigid Transformation Estimation in Point Registration Procedures: Study of the Use of Mahalanobis Distances
N° RR-6684 (2008)
Résumé : This document explores the problem of the estimation of the rigid body transformation that minimizes the sum of squares between matched points of dimension $n$ where Mahalanobis distances are used. This problem is stated as a constrained minimization problem and the Lagrange multipliers framework is used. The solution is given as a system of polynomial equations. Among the solution of that system is the solution of the estimation problem. The 2-D and the 3-D cases are explicitely studied and simplified equations are given for those cases. In addition results are given concerning the optimal choice of the Lagrange multiplier.
- 1 : E-MOTION (INRIA Grenoble Rhône-Alpes / LIG Laboratoire d'Informatique de Grenoble)
- INRIA – Université Joseph Fourier - Grenoble I – Université Pierre-Mendès-France - Grenoble II – CNRS : UMR5217 – Institut polytechnique de Grenoble (Grenoble INP)
- Domaine : Informatique/Robotique
- Mots-clés : point registration – rigid body transformation – Mahalanobis distance – ICP – ECMPR – polynomial systems
- Référence interne : RR-6684
- inria-00330584, version 1
- http://hal.inria.fr/inria-00330584
- oai:hal.inria.fr:inria-00330584
- Contributeur : Manuel Yguel
- Soumis le : Mardi 14 Octobre 2008, 21:03:12
- Dernière modification le : Mardi 28 Octobre 2008, 17:39:38
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