A coarse to fine 3D registration method based on robust fuzzy clustering
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(126) ( " 1 6 - * .08F -" .06 " (K( / * ( # " 4B.P.C8 - " ( + 1 # " 3 *," 6 - # " .. µ. .
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(153) G4 +=C+ - # 4?6 ( 3J.C4;8: #;+ .C6 .06: * .C .3 " * . 10B" *,# . .04 "$@P" 4 . 10B"* # 1 # " 4;. # #B+ .C6 4 # .3 # " . ( " # . " " ( #;+ 8: #B" - Q / # . . 10B" *,# ( 8F8 "$# 4 + " ( V + ( F ) 1 1 µ 6 - ) 1 6 - # " # 4X6 ( #B+ .C6 4 # ) 6 ) # # $ " 6 1 "G+ 6 * 4 " ( "G# "2@ L/ " .3 # " 6. + ( " ( #;" / ( #;" 1 /6 #B+ # "2" 4B4;.C4 "A# "$" 6 # " " ( #;+ 8: #B" - 6 - # " 4 " 6 = " + ( # µ-) " 4 * " 6 # 5 # + 6 " - @ L/ " ( .3 # " 6. + ( " 3J.C4 "$@P" 4 . 10B"* # 4 " ( . 6 + 6 # " µ $ . + 6. . 4 =0"G# " @ L/ " .3 # " 6. + ( " ( / .C4 #B" - 1 .0/4K = .04 +L# 8 + (,1 # " ( 8: " ( # 6 - +L=0=C" ( # " - =0" ( I+ ;$" .3 # " #X* " ( 4 " ( . ( =. 6 + 6 # + ( # " . #;+<*,"K# # # " 8F.04 " - "$# + " - # " . 10B"*,# + (,1 # " 8F.C4 " + + " # " 6 . + ( "F+ ( # . " 4 =0" . ( # .3 # "F#B+ 8 " 1 # " ( # 6 - 4X- - "$@ + #B+ .06.3 # " 6. + ( " Q " 3J.04 ":# " 6 = " ( 6/ " 4 " 4;4B.04 .3 µ-) V + ( <4 =0" 4 # 6 # " ( <+ ;A" .3 # " ( 8:L " ( # #X* 7 $ " .06 H" *," #B+ .06 + ( 3J.C4 # " 3 *," $ + ( * 6 "2" < + 6 " - / 6 /;A+ 6 = # " + ( # . = 4X8 .3Z #X* ( <+ ;$" ( $ + ( . 10B"*,# ( <4 =C" 6 /8 " 4 .3 #?* " ( .3D 4B. %+ 8: #;" # " ( 8 " ( I+ ;$" 1 " * / ( "2+L# + ( # 4 + 6 = /< #B+ .067 $ %/ ( 1 " 6:6. + ( "2+ ( C-- " - 1 8F. ( # .3 #?* " ( ( "$" 8 # . " .3 ( + 8 + <4 ( <+ ;A" ( & 6 # + (K( +# / #B+ .C6 1 # 4" 4 ( # ( #B" .3 .0/4G = .C4 +# 8 " 4S3J.C4;8 ( .P.C4; 1 6 ( * .06 ( " O / " 6 *," # " 4 " 4 " # .P. 8:6 . + 6 # ( + 6 # " *A* /8 /< #B+ .06 ( *," $ + ( 3 * # ( . " < + 6 ( # " ( 8:L 1 R @ L/ " $ " @ / " .3 1 R + ( - " 6 " -! ( + 6 ( "*,#;+ .06 } µ " 4 " # "F* .C6 - " 6 *," "$+= # ( 4 " 6 . # / ( " - G( + 6 = # " * .C6 - " 6 *," "A+L= # ( L. ( / ( # . + 6 * 4 " ( "G# " 1 R # . 1 R . . . . . . . . . . . .
(154) . . . 9 7( . D @ f ?9. 6. # " 4 + 8F .C4 # 6 # + (;( / " 3J.C4 * .C8 / #B" 4 @ + ( + .C6:8 "$# . - ( + ( # " 4;. / ( # 6 " (B( # .F. *$* L/ ( + .C6 G " # " ( 8 " + + 6 -.3 #;" ( # ( ( + 6 # " 4 "$@ + .0/ ( ( " *,#B+ .C6 1 " 4 " # " - # ( "$# + ( . *$* / - " - $ . ( + 8 /< #B" . *$* L/ ( + .06 1 @P" 4 #B+ *," ( .C6 #?* " ( 4 " 4X6 -%.C8 " + 8 + 6 #;" - $ " " 4 *," 6 # =0" .35. *$* / ( + .C6 + ( =C+@P" 6 1 # " 4B. + +L# # . " + 8 + 6 #;" @P" 4 #;" 6 - " 4 . *$* L/ ( + .06 1 # " * . + *," .3 # " @ / " F+ ( 6. #2+ 8F .C4 # 6 # 1 * .C6 # 4?4 H# . # " 6 - + 6 = ( .3 # " 4 "$@ + .0/ ( ( "* #B+ .067 . +L= / 4 " ( . ( /6 - " 42- + " 4 " 6 # 8F.C/6 # .3 . *$* / ( + .C6 # " 8 .C/6 # .3 * .C4;4 "*,#K" ( #B+ 8 #B+ .C6:.C6 # " 6 # 4 " I+ ; #;+ .C6 .3 # " 6. + ( " $ " 4 "$=0+ ( # 4X #B+ .C6 + ( +L" - "A# "$" 6 # " . 6 - +L# ( . *$* / - " - @P" 4 ( + .C6 . #B+<* "G# # # " . # + 6 " - * /4 @P" + ( @P" 4 ( + 8 + <4 # . # " # " .C4 "$#B+ * .C6 " + 6 *," # " 4;. + +L# .3 . ( + - " 6. # "$+ 6 = . *$* / - " - + ( Q µ V 1 # " 4B. + +"# .3 @%+ 6 = # " ( # [ 6.C/6
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(156) probability correct estimation algorithm failure non-occluded faces. 1.00 0.90 0.80 0.70 0.60 0.50 0.40 0.30 0.20 0.10 0.00. occlu degree 0.00. .. +L= /4 " Y. 0.20. 0.40. 0.60. 0.80. 1.00. &' &'& * # ' + ( &'& ,% + 6 '
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(168) . . . . . . . . . . . . . . . . . . . .3 3 + L/4 " ( .3 .0/4K = .04 +L# 8 + ( ( . L. #;#B" - $ " } ( /8F8:4 +" ( # " 4 " ( / # ( .3 # " . *$* / ( + .C6 #;" ( # ( 3J.04 # " * . 10B"*,# ( ( .= 6 + 6 . +L= /4 " * & 6 # " ( "G#;" ( # ( # " " 4 *," 6 # =C" .3 . *$* / ( + .C6 + ( + 6 * 4 " ( " - /6 #B+ # " " 4;4B.04G.C6 # " 6 = /<4 " ( #B+ 8 #B+ .C6:.3 # " 4;. # #B+ .C6 + ( 8F.C4 " # 6 µ) " 4 *," 6 # & 6 # "4 4 ( # 4;. .3 # + ( # " 1 6. 6. + ( "2+ ( C-- " - 1 6 - # "2@ / " .3 " O / ( 4B. + 8: #B" #B" 6 " 4 *," 6 # .3 # " ( <+ ;A" .3 # " ( 8: " ( # #?* 7 & 6 # " ( "* .06 -F4B. 1 E / (B( + 6:6. + ( " +L# : ( # 6 -4X-:- "$@ + #B+ .C6 .3 ) 8 8 Q .C/ # 3.3 # " ( I+ ;$" .3 # " ( 8 L " ( # #?* V + ( C- - " - # . . *$* / ( + .C67 $ " 4;. / ( # 6 " (B( # . . *$* / ( + .C6 + (2( #B+ ( 3 + 6 = 1 6 -!8F. ( # .3 # "F#B+ 8 " # " = .C4 +# 8 * 6 6 -% " / # . ) .3 # " . 10B" *,# . *$* L/ - " - & 6 .C/4 * ( " 1 6. #;+<*,"K# # # " 8F.04 " #X* " ( # " . 10B"* # (,1 # " 8F.04 " . *$* / ( + .C6 * 6F. *$* /4$ $ " 4 " 4 "K# . "* " #B+ .C6 ( 3J.C4 # " + 4;<6 " 6 - # " 3 *," $ " 8 " - + / 8 4B. / ( # 6 " (B( # . . *A* L/ ( + .06 .06 # " + 4;<6 "2+ ( -%/ "2# . # " 3 *,# # # 8F. ( # .3 # " #?* " ( .3 # + ( . 10B" *,# 4 "2@P" 4 # + 6 1 6 -F " 6 *," 1 # " . 10B"*,# + ( 8F.C4 " ( " 6 ( +#B+L@P"K# . . *A* L/ ( + .067 $ " .P.C4 4 " ( / # ( .C6 # " 3 *," 8 " 6 ( # # 1 " 6 # 4 + 6 = / #B+ .C6:4 " / ( " - 1( #B" µ .3 # " = .C4 +L# 8 8/ ( #Z " C- #B" # . 6 -% " # 4 + 6 = / 4 ( " ( + 6 # " 8 66 " 4 # # + 3D-%. " ( 4 "*,# 6 = " ( }).
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(177) . 7 8V@A? 9 . ? G=. D7 ^ FG?A70. . 4 # 3J4;.C8 +# ( 4;. / ( # 6 " (B( # .6. + ( " .C6 - # 6 -. *$* / ( + .C6 1 60- @ 6 # =C" .3 # " 4;.C . ( " -8 "$# . - + ( # " . (B( +L+ +#" # . 8 6 =C" ( "$# .3 * . 4 ( " 4 "$=C+ ( # 4? #;+ .C6 ( & 6: 4 #B+<* /<4 1 # " 6%/ 8 " 4 .3 * L/ ( #B" 4 ( 8 / ( # " * . ( " 6 *$* .C4X- + 6 =2# . ( 8F8 "$# 4 + " ( 6 - + 6 = .3 # " [ . 10B"*,# . .C4 " 8 " # "K . ( . 6 + 6 . +L= / 4 " * * 6 "K" *,# 4 "$=0+ ( #B" 4 " - 1 ( 4 +L=C+ - # 4?6 ( 3J.C4;8: #;+ .C6 ( -%/ "F# . +L# ( ( 8F8 "$# 4 +" ( $ " ( " ( ( .CL/ #B+ .06 ( 4 " . # + 6 " - / ( "$#;#B+ 6 = µ " O / # . ( & 3 .06 3 " ( .C/ #B+ .C6 ( 4 " 6 "$" - " - 1 " * 6 ( "A# # .F .= " 4 @ L/ " G " - " > +L# # " 4 * + 6 " *,# # " ( 8 " & 3 " ( " 4 * 3J.C4 # " .C " ( .C/ #B+ .C6 ( "$# 1 " @P":# = + " + 6 # . *$* .C/ 6 # 6. # .C6 " * # ( 8F8 "$# 4 + " (,1 / # ( . 4B. + 8: #B" ( 8F8 "A# 4 +" ( . .C4 + 6 ( # 6 * " 1 # " ( " * .C6 - 1 3J.C/4 # .C4 3 # . 10B" *,# ( ( . 6 + 6 . +L= /4 " * @P" 6. " *,# ( 8 8 "$# 4 +" (,1 / #K+ 35 3 " 6 4 #?* " ( 4 "2" + 8 + 6 #;" - 1 # " ( " . 10B"* # ( @P" 4B. + 8: #B+@P" <6 4 ( 8F8 "$# 4 + " ( . .C4 # " ( " . 10B" *,# ( 1 # . ( 8 8 "$# 4 +* P . ( +L#;+ .C6 ( 4 " . (B( + " 3J.C4 = L. 4 "$=C+ ( # 4X #;+ .067 & # + ( . (;( +L " # .:. # + 6 # " .C " ( "$# .3K4 "A=C+ ( # 4? #B+ .C6 ( +# [ + 6 * L/ - + 6 =F# " 6. + ( " * L/ ( #B" 4A . .04 # " . # " 42. 10B"* # ( .3 . +L= /4 " * 1 .06 .06 " ( .0L/ #;+ .C6H ( # . " . # + 6 " - & 3 # " @ L/ " .3 + ( . @P" 4
(178) - "A#B" 4;8 + 6 " - 1 " + 7. # + 6 ( .C8 " * L/ ( #B" 4 ( 4 " -%/ *," - # . .06 3 " . + 6 # ( $ + ( + + 6 -H.3 * L/ ( #B" 4 * 6 " " ( + - + ( * 4 + 8 + 6 #B" - 3J4B.08 - " ( + 4 " -.C6 " ( .C4 " . @P" F 4 " 6. #B+ *," # 6 + 3 2+ ( . @P" 4
(179) " ( #B+ 8: #;" - 1 # " = .P. - ( .0L/ #;+ .C6H ( 8F.C4 " * 6 *," # . " ( " "*,#B" - 1 # " = .C4 +L# 8 "$@P" 6 + 6 @P" 4 6. + ( 6 -!. *$* / - " - ( +L# / #;+ .06 ( @ 9 . "$@P" 4 1 -%/ " # . * .C8F/ # #;+ .06 * . ( # 1 " @P"# . * .P. ( " # " ( 8:L " ( # @ / " + * L=. ( / ( # .F. # + 6 = .P. - ( .0L/ #;+ .067 & 3 + ( /6 - " 4 " ( #B+ 8: #;" - 1 " 6. #B+<* " + 6 .C/4 -" " 4 + 8 " 6 # ( # # # "2* .06 ( " O / " 6 *,"K+ ( # # .C6 ( / ( "$# .3 # "G+ 6 #B" 4 " ( #;+ 6 = 4 "$=C+ ( # 4? #;+ .C6 ( . # " ( + ( + ( . # + 6 " - 8. .
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(181) 4 +# 8 ( .064 " + 8: =0" ( Q . +L= /4 " µ-) Q VXQ VBV 1 8F. - " ( .3D ( . *$*," 4 6 -F.3 <6 4K. 10B"* # 4 " 4 "$=0+ ( #;" 4 " -F6 *$* /4X #B" # +L# # " 4;.C . ( " - 8 "A# . - Q . +L= / 4 " µ¨µ V $ " ( . *$*," 4 L + ( 6H. 10B"*,# +# 6 /8 " 4B.C/ ( =0" .C8 "A# 4 + * ( 8F8 "A# 4 + " ( 1 ( . + 6 # + ( " 8 " <4 =0" 6%/8 " 4 5. }$}.
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