Improving ICP with easy implementation for free-form surface matching

Automatic range image registration and matching is an attractive but unresolved problem in both the machine vision and pattern recognition literature. Since automatic range image registration and matching is inherently a very difficult problem, the algorithms developed are becoming more and more complicated. In this paper, we propose a novel practical algorithm for automatic free-form surface matching. This method directly manipulates the possible point matches established by the traditional ICP criterion based on both the collinearity and closeness constraints without any feature extraction, image pre-processing, or motion estimation from outliers corrupted data. A comparative study based on a large number of real range images has shown the accuracy and robustness of the novel algorithm.