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Reliable updates of the transformation in the iterative closest point algorithm

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  • Per Bergström

Abstract

The update of the rigid body transformation in the iterative closest point (ICP) algorithm is considered. The ICP algorithm is used to solve surface registration problems where a rigid body transformation is to be found for fitting a set of data points to a given surface. Two regions for constraining the update of the rigid body transformation in its parameter space to make it reliable are introduced. One of these regions gives a monotone convergence with respect to the value of the mean square error and the other region gives an upper bound for this value. Point-to-plane distance minimization is then used to obtain the update of the transformation such that it satisfies the used constraint. Copyright Springer Science+Business Media New York 2016

Suggested Citation

  • Per Bergström, 2016. "Reliable updates of the transformation in the iterative closest point algorithm," Computational Optimization and Applications, Springer, vol. 63(2), pages 543-557, March.
    • Handle: RePEc:spr:coopap:v:63:y:2016:i:2:p:543-557
    DOI: 10.1007/s10589-015-9771-3
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