Local 3D Shape Descriptor

Scale-Dependent/Invariant Local 3D Shape Descriptors
Scale-space
Feature detector
The feature detector is primary part in computer vision A specific scale is determined by size of local window
To overcome the limitation

Construct an image scale-space Convolve the image with Gaussian kernels of increasing standard deviation
Scale-space
Allow us to detect not only the location of a local feature in an image But also intrinsic scale
Scale in 3D geometric data

Construct a representation of the data at different scale
Multi-resolution representation of a mesh: sensitive to the sampling of the original model Use smoothing operator similar to 2D scale-space: lead to alternations in the global topology of the geometric data 3D Euclidean distance: lead to creation of erroneous features
Distance metric for modeling the geometry
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Geometric Scale-Space
Geometric scale-space in range image

Range image is already a dense and regular projection of a single view of the surface of the target 3D shape
Geometric scale-space
Construct a normal map N
Triangulate the range image Compute a surface normal for each vertex
2D normal map
Geodesic distance
Encode accurately the scale-variability of the surface geometry Approximate the distance with the sum of Euclidean 3D distances
: is a 2D domain in R2 : a list of vertex point in the range image
Build the geometric scale-space of a base normal map N
By filtering the normal map with Gaussian kernels of increasing standard deviation
: local window
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Scale-Dependent Features
Detect 3D geometric corner

For a point u in the normal map N at scale The corner response is computed using the Gram matrix
Ns : horizontal direction, Nt : vertical direction : a free parameter that is empirically set for each particular feature detector : weighing factor of the points in the Gram matrix
Detect corner points at each scale
Spatial local maxima of the corner detector responses Threshold : the second-order partial derivatives
Prune corners lying along edge points
Search for local maxima of the corner detector responses across the scales
The scale of the corners is intrinsic scale of each corner
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Local 3D Shape Descriptors
Limitation of 3D shape descriptor

Sampling density Size of descriptors support region
Solution in this paper Dense and regular 2D descriptors

Insensitive to the resolution of the input range images
Support size
Can be determine by the scale information of corner
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Local 3D Shape Descriptors
Determine local neighborhood

Map the local neighborhood of a corner to a 2D domain Use exponential map
Exponential map
Map from the tangent space of a surface point to the surface itself (map 2D image to 3D surface) The exponential map takes a vector w on the tangent plane and maps it to the point on the geodesic curve at a distance of 1 from u, or Exp(w)= (1) w Any point v on the surface in the local neighborhood of u can be mapped to us tangent plane (referred to as Log map) Geodesic polar coordinates of v
Geodesic distance Polar angle of the tangent to the geodesic at u
e2 u
e1
Exponential map
Geodesic polar angle

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Scale-Dependent Local 3D Shape Descriptor
Build a scale-dependent local 3D shape descriptor

Use the geodesic polar coordinates
: geodesic distance between u and v : polar angle of the tangent of the geodesic between u and v defined relative to a fixed bases {e1,e2} e e Radius of the descriptor
Set proportional to the inherent scale
Interpolate a geometric entity

To construct a dense and regular representation of the neighborhood of u at scale Geometric entity: surface normal
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Rotation invariant shape descriptor

Rotate the normal such that the normal at the center point u points in the positive z direction The resulting dense 2D descriptor is invariant up to a single rotation (in-plane rotation on the tangent plane) Align the maximum principal curvature direction at u to the horizontal axis e1
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Scale-Dependent/Invariant Local 3D Shape Descriptor
Scale-dependent local 3D shape descriptor

for a scale-dependent corner at u and with scale
Scale-invariant local 3D shape descriptor

Build a set of scale-dependent local 3D shape descriptors Normalize each descriptors size to a constant radius
for a scale-dependent corner at u and with scale
Assumption for scale-invariant shape descriptor

The scales of local geometric structures relative to the global scale of a range image remains constant as the global scale of a range image is altered This assumption holds as long as the geometry captured in the range image is rigid and does not go under any deformation
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Evaluation of Local 3D Descriptor
Pairwise registration
Similarity Measure A and B are the set of points in the domain of and
Multiview registration
Image registration
The process of transforming different sets of data into one coordinate system Data may be multiple photographs, data from different sensors, from different times, or from different viewpoints. Registration is necessary in order to be able to compare or integrate the data obtained from these different measurements.
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Pairwise registration
Range images with the same global scale using a set of scale-dependent local 3D shape descriptor
Range images with inconsistent global scales using a set of scale-invariant local 3D descriptor
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Initial set of range images
Approximate registration obtained with our framework
Registration refined with multi-view ICP [25]
A water tight model using a surface reconstruction algorithm [26]

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Multiple objects
15 views of the Buddha model 12 views of the armadillo 15 views of the dragon model
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Random global scale
15 views of the Buddha and dragon models Random scale factor: 1 ~ 4
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Random global scale
15 views of the Buddha models 12 views of the armadillo models 15 views of the dragon models Random scale factor: 1 ~ 4
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References
[1] J. Novatnack and K. Nishino, Scale-Dependent/Invariant Local 3D Shape Descriptors for Fully Automatic Registration of Multiple Sets of Range Images, In Proceedings of the 10th European Conference on Computer Vision (ECCV2008), pp. 440-453, 2008. [2] J. Novatnack and K. Nishino, Scale-Dependent 3D Geometric Features, In IEEE 11th International Conference on Computer Vision (ICCV2007), 2007.
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Local 3D Shape Descriptor

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Local 3D Shape Descriptor

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Scale-Dependent/Invariant Local 3D Shape Descriptors

Scale-Dependent/Invariant Local 3D Shape Descriptors

To overcome the limitation

Scale in 3D geometric data

Distance metric for modeling the geometry

Scale-Dependent/Invariant Local 3D Shape Descriptors

Geometric scale-space in range image

: is a 2D domain in R2 : a list of vertex point in the range image

Build the geometric scale-space of a base normal map N

Detect 3D geometric corner

Detect corner points at each scale

Prune corners lying along edge points

Scale-Dependent/Invariant Local 3D Shape Descriptors