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Published Articles >> Table of Contents >> Abstract
Fourth International Conference on 3-D Digital Imaging and Modeling (3DIM '03)
p. 171
Reliable and Rapidly-Converging ICP Algorithm Using Multiresolution Smoothing
Kok-Lim Low, University of North Carolina at Chapel Hill
Anselmo Lastra, University of North Carolina at Chapel Hill
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DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/IM.2003.1240247
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| Abstract |
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Autonomous range acquisition for 3D modeling
requires reliable range registration, for both the precise
localization of the sensor and combining the data from
multiple scans for view-planning computation. We
introduce and present a novel approach to improve the
reliability and robustness of the ICP (Iterative Closest
Point) 3D shape registration algorithm by smoothing the
shape's surface into multiple resolutions. These smoothed
surfaces are used in place of the original surface in a coarse-to-fine
manner during registration, which allows
the algorithm to avoid being trapped at local minima
close to the global optimal solution. We used the technique of
multiresolution anaysis to create the
smooted surfaces efficiently. Besides being more robust,
convergence is generally much faster, especially when
combined with the point-to-plane error metric of Chen
and Medioni.
Since the point-to-plane error metric has no closed-form
solution, solving it can be slow. We introduce a
variant of the ICP algorithm that has convergence rate
close to it but still uses the closed-form solution
techniques (SVD or unit quaternion methods) of the
original ICP algorithm.
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 Additional Information
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Citation:
Kok-Lim Low, Anselmo Lastra,
"Reliable and Rapidly-Converging ICP Algorithm Using Multiresolution Smoothing,"
3dim,
p. 171,
Fourth International Conference on 3-D Digital Imaging and Modeling (3DIM '03),
2003
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