Title :
Fast and robust isotropic scaling iterative closest point algorithm
Author :
Li, Ce ; Xue, Jianru ; Zheng, Nanning ; Du, Shaoyi ; Zhu, Jihua ; Tian, Zhiqiang
Author_Institution :
Inst. of Artificial Intell. & Robot., Xi´´an Jiaotong Univ., Xi´´an, China
Abstract :
The iterative closest point (ICP) algorithm is an accurate approach for the registration between two point sets on the same scale. However, it can not handle the case with different scales. This paper proposes a fast and robust ICP algorithm for isotropic scaling point sets registration (FRISICP). In order to accurately and directly estimate the scale factor without any constraints, we introduce a bidirection distance measurement method into the least square (LS) problem. Then to keep computational efficiency when the number of points in the set increasing, we further introduce a sparse-to-dense hierarchical model in ICP algorithm to speed up the isotropic scaling point set matching process. Experimental results demonstrate that the proposed FRISICP method outperforms other algorithms on both 2D and 3D point sets.
Keywords :
image registration; iterative methods; least squares approximations; FRISICP; isotropic scaling iterative closest point algorithm; isotropic scaling point sets registration; least square problem; Conferences; Data models; Image processing; Iterative closest point algorithm; Robustness; Shape; Three dimensional displays; Bidirection distance measurement; ICP; Isotropic scaling registration; Sparse-to-dense;
Conference_Titel :
Image Processing (ICIP), 2011 18th IEEE International Conference on
Conference_Location :
Brussels
Print_ISBN :
978-1-4577-1304-0
Electronic_ISBN :
1522-4880
DOI :
10.1109/ICIP.2011.6115724