NDLI: The Trimmed Iterative Closest Point algorithm

Content Provider	IEEE Xplore Digital Library
Author	Chetverikov, D. Svirko, D. Stepanov, D. Krsek, P.
Copyright Year	2002
Description	Author affiliation: Comput. & Autom. Inst., Budapest, Hungary (Chetverikov, D.; Svirko, D.; Stepanov, D.)
Abstract	The problem of geometric alignment of two roughly preregistered, partially overlapping, rigid, noisy 3D point sets is considered. A new natural and simple, robustified extension of the popular Iterative Closest Point (ICP) algorithm (Besl and McKay, 1992) is presented, called the Trimmed ICP (TrICP). The new algorithm is based on the consistent use of the least trimmed squares (LTS) approach in all phases of the operation. Convergence is proved and an efficient implementation is discussed. TrICP is fast, applicable to overlaps under 50%, robust to erroneous measurements and shape defects, and has easy-to-set parameters. ICP is a special case of TrICP when the overlap parameter is 100%. Results of testing the new algorithm are shown.
Starting Page	545
Ending Page	548
File Size	293087
Page Count	4
File Format	PDF
ISBN	076951695X
ISSN	10514651
DOI	10.1109/ICPR.2002.1047997
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-08-11
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Iterative closest point algorithm Iterative algorithms Robustness Shape measurement Convergence Motion analysis Cost function Automation Testing Reverse engineering
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition

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