Simplification of objects for faster registration

In this paper, we investigate the impact of an object simplification approach in registration using the Iterative Closest Point (ICP) algorithm. Though the simplification of the objects remarkably reduces the registration time, it also raises a critical issue, whether the simplified version of the object carries sufficient information to recover the proper geometric parameters of registration. Accordingly, we investigate both simulated and real data to test the geometric degradation caused by the simplification. As for computational times, we monitor how much time we can save during the ICP registration using simpler objects. Moreover, we check the times taken by the simplification process itself to see whether simplification can be considered online, as well.