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Proceedings Paper

A point-to-plane registration algorithm for orthogonal transformations
Author(s): Artyom Makovetskii; Sergei Voronin; Vitaly Kober; Aleksei Voronin
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Paper Abstract

The key point of the ICP algorithm is the search of either an orthogonal or affine transformations, which is the best in sense of the quadratic metric to combine two point clouds with a given correspondence between points. The point-toplane metric performs better than the point-point metric in terms of the accuracy and convergence rate. A closed-form solution to the point-to-plane case for orthogonal transformations is an open problem. In this presentation, we propose an approximation of the closed-form solution to the point-to-plane problem for orthogonal transformations.

Paper Details

Date Published: 17 September 2018
PDF: 9 pages
Proc. SPIE 10752, Applications of Digital Image Processing XLI, 107522R (17 September 2018); doi: 10.1117/12.2321396
Show Author Affiliations
Artyom Makovetskii, Chelyabinsk State Univ. (Russian Federation)
Sergei Voronin, Chelyabinsk State Univ. (Russian Federation)
Vitaly Kober, Chelyabinsk State Univ. (Russian Federation)
CICESE (Mexico)
Aleksei Voronin, Chelyabinsk State Univ. (Russian Federation)


Published in SPIE Proceedings Vol. 10752:
Applications of Digital Image Processing XLI
Andrew G. Tescher, Editor(s)

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