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The Trimmed Iterative Closest Point algorithm
Abstract
The problem of geometric alignment of two roughly preregistered, partially overlapping, rigid, noisy 3D point sets is considered. A new natural and simple, robustified extension of the popular Iterative Closest Point (ICP) algorithm (Besl and McKay, 1992) is presented, called the Trimmed ICP (TrICP). The new algorithm is based on the consistent use of the least trimmed squares (LTS) approach in all phases of the operation. Convergence is proved and an efficient implementation is discussed. TrICP is fast, applicable to overlaps under 50%, robust to erroneous measurements and shape defects, and has easy-to-set parameters. ICP is a special case of TrICP when the overlap parameter is 100%. Results of testing the new algorithm are shown.
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Cites
Robust Regression and Outlier Detection
Rousseeuw, P. J., & Leroy, A. M. (1987) · Wiley Series in Probability and Statistics · doi:10.1002/0471725382 · Cited by 5,609
Object modeling by registration of multiple range images
Chen, Y., & Medioni, G. (2002) · Proceedings. 1991 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1991.132043 · Cited by 1,409
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Fingerprint-Based Fuzzy Vault: Implementation and Performance
Nandakumar, K., Jain, A. K., & Pankanti, S. (2007) · IEEE Transactions on Information Forensics and Security · doi:10.1109/tifs.2007.908165 · Cited by 553
Registration of large-scale terrestrial laser scanner point clouds: A review and benchmark
Dong, Z., Liang, F., Yang, B., Xu, Y., Zang, Y., Li, J., Wang, Y., Dai, W., Fan, H., Hyyppä, J., et al. (2020) · ISPRS Journal of Photogrammetry and Remote Sensing · doi:10.1016/j.isprsjprs.2020.03.013 · Cited by 438
Voxelized GICP for Fast and Accurate 3D Point Cloud Registration
Koide, K., Yokozuka, M., Oishi, S., & Banno, A. (2021) · 2021 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra48506.2021.9560835 · Cited by 386
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Sandbach, G., Zafeiriou, S., Pantic, M., & Yin, L. (2012) · Image and Vision Computing · doi:10.1016/j.imavis.2012.06.005 · Cited by 357
Metadata
- Authors
- Chetverikov, D., Svirko, D., Stepanov, D., & Krsek, P.
- Venue
- Object recognition supported by user interaction for service robots
- Publisher
- IEEE Comput. Soc
- Published
- 2003-06-25
- Volume
- 3
- Pages
- 545-548
- OpenAlex
- W2140711847
- Cited by
- 617
- References
- 2
- FWCI
- 14.37
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Chetverikov, D., Svirko, D., Stepanov, D., & Krsek, P. (2003). The Trimmed Iterative Closest Point algorithm. Object recognition supported by user interaction for service robots. https://doi.org/10.1109/icpr.2002.1047997
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