A refined ICP algorithm for robust 3-D correspondence estimation
نویسندگان
چکیده
Robust registration of two 3-D point sets is a common problem in computer vision. The Iterative Closest Point (ICP) algorithm is undoubtedly the most popular algorithm for solving this kind of problem. In this paper, we present the Picky ICP algorithm, which has been created by merging several extensions of the standard ICP algorithm, thus improving its robustness and computation time. Using pure 3-D point sets as input data, we do not consider additional information like point color or neighborhood relations. In addition to the standard ICP algorithm and the Picky ICP algorithm proposed in this paper, a robust algorithm due to Masuda and Yokoya and the RICP algorithm by Trucco et al. are evaluated. We have experimentally determined the basin of convergence, robustness to noise and outliers, and computation time of these four ICP based algorithms.
منابع مشابه
Robust motion and correspondence of noisy 3-D point sets with missing data
We describe RICP, a robust algorithm for registering and ®nding correspondences in sets of 3-D points with signi®cant percentages of missing data, and therefore useful for both motion analysis and reverse engineering. RICP exploits LMedS robust estimation to withstand the eect of outliers. Our extensive experimental comparison of RICP with ICP shows RICP's superior robustness and reliability. ...
متن کاملA Robust Distributed Estimation Algorithm under Alpha-Stable Noise Condition
Robust adaptive estimation of unknown parameter has been an important issue in recent years for reliable operation in the distributed networks. The conventional adaptive estimation algorithms that rely on mean square error (MSE) criterion exhibit good performance in the presence of Gaussian noise, but their performance drastically decreases under impulsive noise. In this paper, we propose a rob...
متن کاملMatching Tensors for Automatic Correspondence and Registration
Complete 3-D modeling of a free-form object requires acquisition from multiple view-points. These views are then required to be registered in a common coordinate system by establishing correspondence between them in their regions of overlap. In this paper, we present an automatic correspondence technique for pair-wise registration of different views of a free-form object. The technique is based...
متن کاملStructural ICP algorithm for pose estimation based on local features
In this paper we present a new variant of the ICP (iterative closest point) algorithm for finding correspondences between image and model points. This new variant uses structural information from the model points and contour segments detected in images to find better conditioned correspondence sets and to use them to compute the 3D pose. A local representation of 3D free-form contours is used t...
متن کاملRigid Point-Surface Registration Using an EM Variant of ICP for Computer Guided Oral Implantology
We investigate the rigid registration of a set of points onto a surface for computer-guided oral implants surgery. We first formulate the Iterative Closest Point (ICP) algorithm as a Maximum Likelihood (ML) estimation of the transformation and the matches. Then, considering matches as a hidden random variable, we show that the ML estimation of the transformation alone leads to a criterion effic...
متن کامل