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Geometrically stable sampling for the ICP algorithm
Abstract
The iterative closest point (ICP) algorithm is a widely used method for aligning three-dimensional point sets. The quality of alignment obtained by this algorithm depends heavily on choosing good pairs of corresponding points in the two datasets. If too many points are chosen from featureless regions of the data, the algorithm converges slowly, finds the wrong pose, or even diverges, especially in the presence of noise or miscalibration in the input data. We describe a method for detecting uncertainty in pose, and we propose a point selection strategy for ICP that minimizes this uncertainty by choosing samples that constrain potentially unstable transformations.
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Cites
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
Cited by
Segal, A., Haehnel, D., & Thrun, S. (2009) · Robotics: Science and Systems V · doi:10.15607/rss.2009.v.021 · Cited by 1,526
Scan registration for autonomous mining vehicles using 3D‐NDT
Magnusson, M., Lilienthal, A., & Duckett, T. (2007) · Journal of Field Robotics · doi:10.1002/rob.20204 · Cited by 771
Registration of 3D Point Clouds and Meshes: A Survey from Rigid to Nonrigid
Tam, G. K. L., Cheng, Z.-Q., Lai, Y.-K., Langbein, F. C., Liu, Y., Marshall, D., Martin, R. R., Sun, X.-F., & Rosin, P. L. (2013) · IEEE Transactions on Visualization and Computer Graphics · doi:10.1109/tvcg.2012.310 · Cited by 679
Mian, A., Bennamoun, M., & Owens, R. (2010) · International Journal of Computer Vision · doi:10.1007/s11263-009-0296-z · Cited by 417
Matching 2.5D face scans to 3D models
Lu, X., Jain, A. K., & Colbry, D. (2006) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2006.15 · Cited by 339
Metadata
- Authors
- Gelfand, N., Ikemoto, L., Rusinkiewicz, S., & Levoy, M.
- Venue
- Fourth International Conference on 3-D Digital Imaging and Modeling, 2003. 3DIM 2003. Proceedings.
- Publisher
- IEEE
- Published
- 2004-06-22
- Pages
- 260-267
- OpenAlex
- W2103544971
- Cited by
- 350
- References
- 1
- FWCI
- 40.80
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Gelfand, N., Ikemoto, L., Rusinkiewicz, S., & Levoy, M. (2004). Geometrically stable sampling for the ICP algorithm. Fourth International Conference on 3-D Digital Imaging and Modeling, 2003. 3DIM 2003. Proceedings. https://doi.org/10.1109/im.2003.1240258
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