Reliable updates of the transformation in the iterative closest point algorithm

被引：4
|
作者：
Bergstrom, Per [1 ]
机构：
[1] Lulea Univ Technol, Dept Engn Sci & Math, Div Math Sci, S-97187 Lulea, Sweden
来源：
COMPUTATIONAL OPTIMIZATION AND APPLICATIONS | 2016年 / 63卷 / 02期
关键词：
Convergence; Iterative closest point; Point-to-plane; Point-to-point; Registration; REGISTRATION; INSPECTION;
D O I：
10.1007/s10589-015-9771-3
中图分类号：
C93 [管理学]; O22 [运筹学];
学科分类号：
070105 ; 12 ; 1201 ; 1202 ; 120202 ;
摘要：
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.
引用
收藏
页码：543 / 557
页数：15
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