Preconditioned Single‐step Transforms for Non‐rigid ICP
Non‐rigid iterative closest point (ICP) is a popular framework for shape alignment, typically formulated as alternating iteration of correspondence search and shape transformation. A common approach in the shape transformation stage is to solve a linear least squares problem to find a smoothness‐reg...
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| Published in: | Computer graphics forum Vol. 44; no. 2 |
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Blackwell Publishing Ltd
01.05.2025
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| ISSN: | 0167-7055, 1467-8659 |
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| Abstract | Non‐rigid iterative closest point (ICP) is a popular framework for shape alignment, typically formulated as alternating iteration of correspondence search and shape transformation. A common approach in the shape transformation stage is to solve a linear least squares problem to find a smoothness‐regularized transform that fits the target shape. However, completely solving the linear least squares problem to obtain a transform is wasteful because the correspondences used for constructing the problem are imperfect, especially at early iterations. In this work, we design a novel framework to compute a transform in single step without the exact linear solve. Our key idea is to use only a single step of an iterative linear system solver, conjugate gradient, at each shape transformation stage. For this single‐step scheme to be effective, appropriate preconditioning of the linear system is required. We design a novel adaptive Sobolev‐Jacobi preconditioning method for our single‐step transform to produce a large and regularized shape update suitable for correspondence search in the next iteration. We demonstrate that our preconditioned single‐step transform stably accelerates challenging 3D surface registration tasks. |
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| AbstractList | Non‐rigid iterative closest point (ICP) is a popular framework for shape alignment, typically formulated as alternating iteration of correspondence search and shape transformation. A common approach in the shape transformation stage is to solve a linear least squares problem to find a smoothness‐regularized transform that fits the target shape. However, completely solving the linear least squares problem to obtain a transform is wasteful because the correspondences used for constructing the problem are imperfect, especially at early iterations. In this work, we design a novel framework to compute a transform in single step without the exact linear solve. Our key idea is to use only a single step of an iterative linear system solver, conjugate gradient, at each shape transformation stage. For this single‐step scheme to be effective, appropriate preconditioning of the linear system is required. We design a novel adaptive Sobolev‐Jacobi preconditioning method for our single‐step transform to produce a large and regularized shape update suitable for correspondence search in the next iteration. We demonstrate that our preconditioned single‐step transform stably accelerates challenging 3D surface registration tasks. |
| Author | Yoon, Hyejeong Jung, Yucheol Lee, Seungyong Kim, Hyomin |
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| Cites_doi | 10.1145/1391989.1391995 10.1111/cgf.13751 10.56021/9781421407944 10.1109/CVPR.2018.00280 10.1111/cgf.13624 10.1111/cgf.12019 10.1017/S0962492915000021 10.1109/34.88573 10.1111/j.1467-8659.2008.01285.x 10.1007/b98874 10.1145/882262.882311 10.1080/10586458.1993.10504266 10.1109/TPAMI.2010.46 10.1016/B978-0-12-141050-6.50023-4 10.1145/1015706.1015736 10.1145/992200.992206 10.1111/cgf.14502 10.1145/3202660 10.1109/SMI.2004.1314505 10.1145/3478513.3480501 10.1109/TPAMI.2023.3247603 10.1007/BF01589116 10.1111/cgf.14747 10.1090/S0025-5718-97-00826-0 10.1145/3306346.3323037 |
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| SubjectTerms | CCS Concepts Computing methodologies → Mesh models Least squares method Linear systems Mathematics of computing → Continuous optimization Preconditioning Reconstruction Smoothness |
| Title | Preconditioned Single‐step Transforms for Non‐rigid ICP |
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