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Optical Engineering • Open Access

Robust iterative closest point algorithm for registration of point sets with outliers
Author(s): Shaoyi Du; Jihua Zhu; Nanning Zheng; Yuehu Liu; Ce Li

Paper Abstract

The problem of registering point sets with outliers including noises and missing data is discussed in this paper. To solve this problem, a novel objective function is proposed by introducing an overlapping percentage for partial registration. Moreover, a novel robust iterative closest point (ICP) algorithm is proposed which can compute rigid transformation, correspondence, and overlapping percentage automatically at each iterative step. This new algorithm uses as many point pairs as possible to yield a more reliable and accurate registration result between two m-D point sets with outliers. Experimental results demonstrate that our algorithm is more robust than the traditional ICP and the state-of-the-art algorithms.

Paper Details

Date Published: 1 August 2011
PDF: 5 pages
Opt. Eng. 50(8) 087001 doi: 10.1117/1.3607960
Published in: Optical Engineering Volume 50, Issue 8
Show Author Affiliations
Shaoyi Du, Xi'an Jiaotong Univ. (China)
Jihua Zhu, Xi'an Jiaotong Univ. (China)
Nanning Zheng, Xi'an Jiaotong Univ. (China)
Yuehu Liu, Xi'an Jiaotong Univ. (China)
Ce Li, Xi'an Jiaotong Univ. (China)


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