Fast and Robust Iterative Closest Point

Robust Generalized Total Least Squares Iterative Closest Point Registration

This paper investigates the use of a total least squares approach in a generalization of the iterative closest point (ICP) algorithm for shape registration. A new Generalized Total Least Squares (GTLS) formulation of the minimization process is presented opposed to the traditional Least Squares (LS) technique. Accounting for uncertainty both in the target and in the source models will lead to a...

Morphological Iterative Closest Point Algorithm

This work presents a method for the registration of three-dimensional (3-D) shapes. The method is based on the iterative closest point (ICP) algorithm and improves it through the use of a 3-D volume containing the shapes to be registered. The Voronoi diagram of the "model" shape points is first constructed in the volume. Then this is used for the calculation of the closest point operator. This ...

Iterative Estimation of Rigid-Body Transformations Application to Robust Object Tracking and Iterative Closest Point

Closed-form solutions are traditionally used in computer vision for estimating rigid body transformations. Here we suggest an iterative solution for estimating rigid body transformations and prove its global convergence. We show that for a number of applications involving repeated estimations of rigid body transformations, an iterative scheme is preferable to a closed-form solution. We illustra...

Robust iterative closest point algorithm for registration of point sets with outliers

Robust Euclidean alignment of 3D point sets: the trimmed iterative closest point algorithm

The problem of geometric alignment of two roughly pre-registered, partially overlapping, rigid, noisy 3D point sets is considered. A new natural and simple, robustified extension of the popular Iterative Closest Point (ICP) algorithm [1] is presented, called Trimmed ICP. The new algorithm is based on the consistent use of the Least Trimmed Squares approach in all phases of the operation. Conver...