Abstract
This paper presents a powerful variant of the ICP (Iterative Closest Point) algorithm for registering range images using a probability field. The probability field (p-field) represents the probability distribution of the surface position. By capitalizing on the properties of the range image, fast construction, compact representation, and efficient query of the p-field can be achieved. Different sensor models are supported by the p-field according to the properties of the range image. Range images can be precisely aligned by maximizing the probability of overlapping surfaces via the p-field.