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A Generalized Point-to-Point Approach for Orthogonal Transformations

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Mathematical Optimization Theory and Operations Research (MOTOR 2019)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1090))

Abstract

The known Iterative Closest Point (ICP) algorithm utilizes point-to-point or point-to-plane approaches. The point-to-plane ICP algorithm uses points coordinates and normal vectors for aligning of 3D point clouds, whereas point-to-point approach uses point coordinates only. This paper proposes a new algorithm for orthogonal registration of point clouds based on a generalized point-to-point ICP algorithm for orthogonal transformations. The algorithm uses the known Horn’s algorithm and combines point coordinates and normal vectors.

The work was supported by the Ministry of Education and Science of Russian Federation (grant N 2.1743.2017) and by the RFBR (grant N 18-07-00963).

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Authors and Affiliations

  1. Chelyabinsk State University, Chelyabinsk, 454001, Russian Federation

    Artyom Makovetskii, Sergei Voronin, Vitaly Kober & Aleksei Voronin

  2. CICESE, 22860, Ensenada, BC, Mexico

    Vitaly Kober

Authors
  1. Artyom Makovetskii
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  2. Sergei Voronin
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  3. Vitaly Kober
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  4. Aleksei Voronin
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Corresponding author

Correspondence to Artyom Makovetskii .

Editor information

Editors and Affiliations

  1. Sobolev Institute of Mathematics, Novosibirsk, Russia

    Igor Bykadorov

  2. University of Greenwich, London, UK

    Vitaly Strusevich

  3. University of Aveiro, Aveiro, Portugal

    Tatiana Tchemisova

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Makovetskii, A., Voronin, S., Kober, V., Voronin, A. (2019). A Generalized Point-to-Point Approach for Orthogonal Transformations. In: Bykadorov, I., Strusevich, V., Tchemisova, T. (eds) Mathematical Optimization Theory and Operations Research. MOTOR 2019. Communications in Computer and Information Science, vol 1090. Springer, Cham. https://doi.org/10.1007/978-3-030-33394-2_17

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  • DOI: https://doi.org/10.1007/978-3-030-33394-2_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-33393-5

  • Online ISBN: 978-3-030-33394-2

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