Robust iterative closest point algorithm based on global reference point for rotation invariant registration

Robust iterative closest point algorithm based on global reference point for rotation invariant registration

The iterative closest point (ICP) algorithm is efficient and accurate for rigid registration but it needs the good initial parameters. It is easily failed when the rotation angle between two point sets is large. To deal with this problem, a new objective function is proposed by introducing a rotation invariant feature based on the Euclidean distance between each point and a global reference poi...

Affine iterative closest point algorithm for point set registration

Article history: Received 24 April 2009 Received in revised form 15 January 2010 Available online 25 January 2010 Communicated by Y. Liu

Rigid Registration: The Iterative Closest Point Algorithm

This lecture continues the subject of point based rigid registration. An important aspect of the algorithms previously presented was the assumption that the pairing between point coordinates in the two coordinate systems is known. In this lecture we present an algorithm which will not require this assumption and furthermore does not require a full pairing between data sets. Problem Definition G...

Robust iterative closest point algorithm for registration of point sets with outliers

Robust Generalized Total Least Squares Iterative Closest Point Registration

This paper investigates the use of a total least squares approach in a generalization of the iterative closest point (ICP) algorithm for shape registration. A new Generalized Total Least Squares (GTLS) formulation of the minimization process is presented opposed to the traditional Least Squares (LS) technique. Accounting for uncertainty both in the target and in the source models will lead to a...