Three Dimensional Image Registration Using Silhouette-based Objective function and CMA-ES Including Partial Restart with Variable Fixing

Abstract

A three-dimensional (3D) entire shape reconstruction method, which performs simultaneous 3D registration of multiple depth images obtained from multiple viewpoints, is proposed in this paper. Unlike most other 3D registration methods,the proposed method fully utilizes a silhouette-based objective function taking out-of-view and non-overlapping regions between two models into account as well as depth differences at overlapping areas.With the combination of the above functions and evolutionary computation algorithms, the entire shape reconstruction from small number (two or three) of depth images, which do not involve enough overlapping regions for other 3D registration methods, can be realized. A CMA-ES algorithm with partial restart strategy to speed up the registration process is proposed in thispaper.