NDLI: Circular trajectory correspondences for iterative closest point registration

Content Provider	IEEE Xplore Digital Library
Author	Suominen, O. Gotchev, A.
Copyright Year	2013
Description	Author affiliation: Dept. of Signal Process., Tampere Univ. of Technol., Tampere, Finland (Suominen, O.; Gotchev, A.)
Abstract	Iterative closest point (ICP) is a popular algorithm for finding rigid transformations between 3D point clouds. It aims to find the rotation and translation differences between the point clouds. A key component in the algorithm is finding correspondences between the two data sets, which are then used to determine the differences. A method for finding these pairings is described, utilizing the circular trajectory of points when the cloud is being rotated. The proposed method reveals more information per iteration cycle than techniques previously used for 3D data. The method enables the use of an efficient implementation by using a simple data structure, which has the same computational complexity to build and to access as the k-d tree commonly used with nearest neighbor correspondence searches. The experimental results show that the convergence rate is superior to the original ICP based on point-to-point minimization and compares favorably to more refined and complex approaches, e.g. normal shooting with point to plane minimization. This together with the efficient implementation strategy and low amount of computation per iteration makes the circular trajectory correspondences (CTC) a valid choice for registration tasks, especially in applications where processing power is limited.
Starting Page	1
Ending Page	4
File Size	242340
Page Count	4
File Format	PDF
ISBN	9781479913695
ISSN	2161203X
DOI	10.1109/3DTV.2013.6676634
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-10-07
Publisher Place	UK
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Geometry Image registration Iterative closest point algorithm Iterative algorithms Iterative methods Convergence
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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