An Improved Iterative Closest Points Algorithm
نویسندگان
چکیده
منابع مشابه
The Iterative Closest Points Algorithm and Affine Transformations
The problem of consistent aligning of 3D point data is known registration task. The most popular registration algorithm is the Iterative Closest Point (ICP) algorithm. One of the main steps of the ICP algorithm is matching. We find a matching in at first time on the basis of the geometric similarity of individual groups of points. It allows to get a good first approximation of the required tran...
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We present a simple way to learn a transformation that maps samples of one distribution to the samples of another distribution. Our algorithm comprises an iteration of 1) drawing samples from some simple distribution and transforming them using a neural network, 2) determining pairwise correspondences between the transformed samples and training data (or a minibatch), and 3) optimizing the weig...
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This work presents a method for the registration of three-dimensional (3-D) shapes. The method is based on the iterative closest point (ICP) algorithm and improves it through the use of a 3-D volume containing the shapes to be registered. The Voronoi diagram of the "model" shape points is first constructed in the volume. Then this is used for the calculation of the closest point operator. This ...
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The Iterative Closest Points (ICP) algorithm is the mainstream algorithm used in the process of accurate registration of 3D point cloud data. The algorithm requires a proper initial value and the approximate registration of two point clouds to prevent the algorithm from falling into local extremes, but in the actual point cloud matching process, it is difficult to ensure compliance with this re...
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This paper describes an approximately expectationmaximization (EM) formulation of a homographical iterative closest point registration approach (henceforth HICP). We show that such an EM approach allows the algorithm to converge faster, and more robustly in the presence of noise. Although this algorithm can register points transformed by a more general set of linear transformations than the ori...
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ژورنال
عنوان ژورنال: World Journal of Engineering and Technology
سال: 2015
ISSN: 2331-4222,2331-4249
DOI: 10.4236/wjet.2015.33c045