Determining correspondences and rigid motion of 3-D point sets with missing data

Xiaoguang Wang, Yong Qing Cheng, Robert Collins, Allen R. Hanson

Research output: Contribution to journalConference article

11 Scopus citations


This paper addresses the general 3-D rigid motion problem, where the point correspondences and the motion parameters between two sets of 3-D points are to be recovered. The existence of missing points in the two sets is the most difficult problem. We first show a mathematical symmetry in the solutions of rotation parameters and point correspondences. A closed-form solution based on the correlation matrix eigenstructure decomposition is proposed for correspondence recovery with no missing points. Using a heuristic measure of point pair affinity derived from the eigenstructure, a weighted bipartite matching algorithm is developed to determine the correspondences in general cases where missing points occur. The use of the affinity heuristic also leads to a fast outlier removal algorithm, which can be run iteratively to refine the correspondence recovery. Simulation results and experiments on real images are shown in both ideal and general cases.

Original languageEnglish (US)
Pages (from-to)252-257
Number of pages6
JournalProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
StatePublished - Jan 1 1996
EventProceedings of the 1996 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - San Francisco, CA, USA
Duration: Jun 18 1996Jun 20 1996


All Science Journal Classification (ASJC) codes

  • Software
  • Computer Vision and Pattern Recognition

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