| View Issue Details [ Jump to Notes ] | [ Print ] | ||||||||
| ID | Project | Category | View Status | Date Submitted | Last Update | ||||
| 0008983 | VTK | (No Category) | public | 2009-05-07 18:13 | 2016-08-12 09:55 | ||||
| Reporter | David Doria | ||||||||
| Assigned To | Kitware Robot | ||||||||
| Priority | normal | Severity | feature | Reproducibility | N/A | ||||
| Status | closed | Resolution | moved | ||||||
| Platform | OS | OS Version | |||||||
| Product Version | |||||||||
| Target Version | Fixed in Version | ||||||||
| Summary | 0008983: ICP should have a "too far way" threshold | ||||||||
| Description | The current implementation of ICP requires ALL of the source points to match to the target. This is ok if one set is a strict subset of the other, because you can simply match the subset to the entire set. However, if the polydata which contains the subset also has many other points, the transform gets pulled to the center of the entire dataset rather than staying near the original location. The idea is that some points are "too far" to be considered in the transform at all, so they do not affect the cost function. This is always a problem when matching a model to a LIDAR scan. | ||||||||
| Tags | No tags attached. | ||||||||
| Project | |||||||||
| Type | |||||||||
| Attached Files |  vtkIterativeClosestPointTransform.cxx [^] (14,459 bytes) 2010-02-22 16:38 vtkIterativeClosestPointTransform.h [^] (7,018 bytes) 2010-02-22 16:38 | ||||||||
| Relationships | |
| Relationships |
| Notes | |
|
(0016742) David Doria (reporter) 2009-06-19 11:05 |
Even better, an M-Estimator can be used to decide which points to disregard during each iteration. |
|
(0037074) Kitware Robot (administrator) 2016-08-12 09:55 |
Resolving issue as `moved`. This issue tracker is no longer used. Further discussion of this issue may take place in the current VTK Issues page linked in the banner at the top of this page. |
| Notes |
| Issue History | |||
| Date Modified | Username | Field | Change |
| 2009-05-07 18:13 | David Doria | New Issue | |
| 2009-06-19 11:05 | David Doria | Note Added: 0016742 | |
| 2010-02-22 16:38 | David Doria | File Added: vtkIterativeClosestPointTransform.cxx | |
| 2010-02-22 16:38 | David Doria | File Added: vtkIterativeClosestPointTransform.h | |
| 2011-06-16 13:11 | Zack Galbreath | Category | => (No Category) |
| 2016-08-12 09:55 | Kitware Robot | Note Added: 0037074 | |
| 2016-08-12 09:55 | Kitware Robot | Status | expired => closed |
| 2016-08-12 09:55 | Kitware Robot | Resolution | open => moved |
| 2016-08-12 09:55 | Kitware Robot | Assigned To | => Kitware Robot |
| Issue History |
| Copyright © 2000 - 2018 MantisBT Team |