Iterative K-Closest Point Algorithms for Colored Point Cloud Registration

Affine iterative closest point algorithm for point set registration

Article history: Received 24 April 2009 Received in revised form 15 January 2010 Available online 25 January 2010 Communicated by Y. Liu

Rigid Registration: The Iterative Closest Point Algorithm

This lecture continues the subject of point based rigid registration. An important aspect of the algorithms previously presented was the assumption that the pairing between point coordinates in the two coordinate systems is known. In this lecture we present an algorithm which will not require this assumption and furthermore does not require a full pairing between data sets. Problem Definition G...

Colored Point Cloud Registration Revisited Supplementary Material

As in Section 4.3, this objective is minimized using the Gauss-Newton method. Specifically, we start from an initial transformation T and perform optimization iteratively. In each iteration, we locally parameterize T with a 6-vector ξ, evaluate the residual r and Jacobian Jr at T, solve the linear system in (21) to compute ξ, and use ξ to update T. To compute the Jacobian, we need the partial d...

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...

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