Reliable updates of the transformation in the iterative closest point algorithm

Per Bergström ()

Computational Optimization and Applications, 2016, vol. 63, issue 2, 543-557

Abstract: The update of the rigid body transformation in the iterative closest point (ICP) algorithm is considered. The ICP algorithm is used to solve surface registration problems where a rigid body transformation is to be found for fitting a set of data points to a given surface. Two regions for constraining the update of the rigid body transformation in its parameter space to make it reliable are introduced. One of these regions gives a monotone convergence with respect to the value of the mean square error and the other region gives an upper bound for this value. Point-to-plane distance minimization is then used to obtain the update of the transformation such that it satisfies the used constraint. Copyright Springer Science+Business Media New York 2016

Keywords: Convergence; Iterative closest point; Point-to-plane; Point-to-point; Registration (search for similar items in EconPapers)
Date: 2016
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DOI: 10.1007/s10589-015-9771-3

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