Change search
ReferencesLink to record
Permanent link

Direct link
Robust registration of surfaces using a refined iterative closest point algorithm with a trust region approach
Luleå University of Technology, Department of Engineering Sciences and Mathematics, Mathematical Science.ORCID iD: 0000-0002-7566-3656
Luleå University of Technology, Department of Engineering Sciences and Mathematics, Mathematical Science.
Number of Authors: 2
2016 (English)In: Numerical Algorithms, ISSN 1017-1398, E-ISSN 1572-9265Article in journal (Refereed) Epub ahead of print
Abstract [en]

The problem of finding a rigid body transformation, which aligns a set of data points with a given surface, using a robust M-estimation technique is considered. A refined iterative closest point (ICP) algorithm is described where a minimization problem of point-to-plane distances with a proposed constraint is solved in each iteration to find an updating transformation. The constraint is derived from a sum of weighted squared point-to-point distances and forms a natural trust region, which ensures convergence. Only a minor number of additional computations are required to use it. Two alternative trust regions are introduced and analyzed. Finally, numerical results for some test problems are presented. It is obvious from these results that there is a significant advantage, with respect to convergence rate of accuracy, to use the proposed trust region approach in comparison with using point-to-point distance minimization as well as using point-to-plane distance minimization and a Newton- type update without any step size control.

Place, publisher, year, edition, pages
2016.
National Category
Mathematical Analysis
Research subject
Mathematics
Identifiers
URN: urn:nbn:se:ltu:diva-59969DOI: 10.1007/s11075-016-0170-3ScopusID: 2-s2.0-84978159472OAI: oai:DiVA.org:ltu-59969DiVA: diva2:1040148
Available from: 2016-10-26 Created: 2016-10-26 Last updated: 2016-12-02

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Bergström, PerEdlund, Ove
By organisation
Mathematical Science
In the same journal
Numerical Algorithms
Mathematical Analysis

Search outside of DiVA

GoogleGoogle Scholar

Altmetric score

Total: 20 hits
ReferencesLink to record
Permanent link

Direct link