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Reliable updates of the transformation in the iterative closest point algorithm

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Abstract

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.

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  1. Division of Mathematical Sciences, Department of Engineering Sciences and Mathematics, Luleå University of Technology, 971 87, Luleå, Sweden

    Per Bergström

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  1. Per Bergström
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Correspondence to Per Bergström.

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Bergström, P. Reliable updates of the transformation in the iterative closest point algorithm. Comput Optim Appl 63, 543–557 (2016). https://doi.org/10.1007/s10589-015-9771-3

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  • DOI: https://doi.org/10.1007/s10589-015-9771-3

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