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研究生： 黃政偉
Huang, Cheng-Wei
論文名稱： 遺傳演算法於三維影像粗疊之應用
The Application of Genetic Algorithms in Rough Registration of Three-dimensional Range Images
指導教授： 謝中奇
Hsieh, Chung-Chi
學位類別： 碩士
Master
系所名稱： 管理學院 - 工業管理科學系
Department of Industrial Management Science
論文出版年： 2002
畢業學年度： 90
語文別： 英文
論文頁數： 58
中文關鍵詞： 三維影像疊合 、遺傳演算法
外文關鍵詞： genetic algorithms, registration
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    The goal of registration is to align three-dimensional (3D) range images taken from different views by determining the optimal transformation parameters. In order
    to reduce the computing time, the procedure of registering 3D range images general-
    ly consists of two stages: (1) rough registration and (2) refined registration. Rough
    registration is to roughly register two 3D range images so that the relative positions
    between the registered images are close, whereas refined registration is to obtain a
    more accurate transformation parameters. The iterative closest point (ICP) algorithm
    is commonly adopted for refined registration. The purpose of the study is to solve the
    rough registration problem by matching the attributes of certain data points on the
    3D range images. Because the attribute matching is highly combinatorial, a heuristic
    method is developed.

    ACKNOWLEDGEMENTS : : : : : : : : : : : : : : : : : : : : : : : : : : : ii LIST OF TABLES : : : : : : : : : : : : : : : : : : : : : : : : : : : : v LIST OF IGURES : : : : : : : : : : : : : : : : : : : : : : : : : : : : vi LIST OF APPENDICES : : : : : : : : : : : : : : : : : : : : : : : : : : viii CHAPTER I. INTRODUCTION . .. . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.3 Assumptions . . .. . . . . . . . . . . . . . . . . . . . . . . . . 2 1.4 Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 II. LITERATURE REVIEW . . . . . . . . . . . . . . . . . . . . . . . . 4 2.1 Object Reconstruction Procedure . . . . . . . . . . . . . . . . . 4 2.1.1 Acquisition of Range Images . . . . . . . . . . . . . . . . . . 4 2.1.2 Registration of Range Images . . . . . . . . . . . . . . . . . . 6 2.1.3 Integration of Range Images . . . . . . . . . . . . . .. . . . . 7 2.2 Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2.2.1 Rough Registration . . . . . . . . . . . .. . . . . . . . . . . 8 2.2.2 Refined Registration . . . . . . . . . . . . . . . .. . . . . . 10 2.3 Genetic Algorithms . . . . . . . . . . . . . . . . . . . . . . . . 11 2.4 Applications of Genetic Algorithms . . . . . . . . . . . . . . . . 13 III. METHODOLOGY . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3.1 Parabolic Points . . . . . . . . . . . . . . . . . . . . . . . . . 15 3.2 Formulating Rough Registration Problem . . . . . . . . . . . . . . 19 3.3 Genetic Optimization . . . . . . . . . . . . . . . . . . . . . . . 21 3.3.1 Representation . . . . . . . . . . . . . . . . . . . . . . . . . 21 3.3.2 Crossover . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 3.3.3 Mutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3.3.4 Evaluation Function . . . . . . . . . . . .. . . . . . . . . .. 22 3.4 Mean Square Error Function . . . . . . . . . . . . . . . . . . . . 24 IV. EXPERIMENTAL STUDY . . . . . . . . . . . . . . . . . . . . . . . . 26 4.1 Fully-Contained Rough Registration . . . . . . . . . . . . . . . . 26 4.2 Partially-Overlapping Rough Registration . . . . . . . . . . . . . 31 V. SUMMARY AND FUTURE DIRECTIONS . . . . . . . . . . . . . . . . . . . 40 REFERENCES : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : 41 APPENDICES : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : 44

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