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

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

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 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...

Robust Euclidean alignment of 3D point sets: the trimmed iterative closest point algorithm

The problem of geometric alignment of two roughly pre-registered, partially overlapping, rigid, noisy 3D point sets is considered. A new natural and simple, robustified extension of the popular Iterative Closest Point (ICP) algorithm [1] is presented, called Trimmed ICP. The new algorithm is based on the consistent use of the Least Trimmed Squares approach in all phases of the operation. Conver...