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Reliable updates of the transformation in the iterative closest point algorithm
Luleå University of Technology, Department of Engineering Sciences and Mathematics, Mathematical Science.ORCID iD: 0000-0002-7566-3656
2016 (English)In: Computational optimization and applications, ISSN 0926-6003, E-ISSN 1573-2894, Vol. 63, no 2, p. 543-557Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
2016. Vol. 63, no 2, p. 543-557
National Category
Computational Mathematics
Research subject
Scientific Computing
Identifiers
URN: urn:nbn:se:ltu:diva-13681DOI: 10.1007/s10589-015-9771-3ISI: 000370561000009Scopus ID: 2-s2.0-84957847071Local ID: cf2fbf5f-f67c-4169-9679-18cbe15e027cOAI: oai:DiVA.org:ltu-13681DiVA, id: diva2:986634
Note
Validerad; 2016; Nivå 2; 20150616 (berper)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2018-07-10Bibliographically approved

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Bergström, Per

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