Range image registration based on weighted iterative closest point algorithm

Xianfeng Wu; Zhijun Liu

doi:10.1117/12.2031210

25 October 2013 Range image registration based on weighted iterative closest point algorithm

Xianfeng Wu, Zhijun Liu

Proceedings Volume 8919, MIPPR 2013: Pattern Recognition and Computer Vision; 89191B (2013) https://doi.org/10.1117/12.2031210
Event: Eighth International Symposium on Multispectral Image Processing and Pattern Recognition, 2013, Wuhan, China

Abstract

Range image can be obtained by 3D-Scanning and needs registration. Based on the classic ICP (Iterative Closest Point) algorithm, this paper presents an improved ICP method. The classic ICP uses the 3D point-to-point distance as the error measurement function. In our paper, the point-to-point distance will be replaced by a point-to-facet distance. By formula derivation, this measurement function can be transformed into facet-weighted point-to-point distance. We apply this method for range image registration and the result shows the validity of this algorithm, which has faster convergence rate and better anti-noise attribute than previously described weighted ICP methods.

Citation Download Citation

Xianfeng Wu and Zhijun Liu "Range image registration based on weighted iterative closest point algorithm", Proc. SPIE 8919, MIPPR 2013: Pattern Recognition and Computer Vision, 89191B (25 October 2013); https://doi.org/10.1117/12.2031210

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