TY - GEN
T1 - Robust ICP registration using biunique correspondence
AU - Zhang, Lei
AU - Choi, Sung In
AU - Park, Soon Yong
PY - 2011
Y1 - 2011
N2 - In this paper, a novel variant of the ICP algorithm is proposed for registration of partially overlapping range images. Biunique correspondence is introduced to enhance the performance of ICP by searching multiple closest points. A new kind of outlier is defined, called No-Correspondence (NC) Outlier, which is the point that is not assigned to a biunique correspondence. In order to maintain efficiency, a coarse-to-fine approach is adopted. Experiments show that the proposed algorithm can find the correct rigid transformation with the existence of large non-overlapping area and poor initial alignment. The proposed algorithm is also applied to SLAM with the use of odometry information.
AB - In this paper, a novel variant of the ICP algorithm is proposed for registration of partially overlapping range images. Biunique correspondence is introduced to enhance the performance of ICP by searching multiple closest points. A new kind of outlier is defined, called No-Correspondence (NC) Outlier, which is the point that is not assigned to a biunique correspondence. In order to maintain efficiency, a coarse-to-fine approach is adopted. Experiments show that the proposed algorithm can find the correct rigid transformation with the existence of large non-overlapping area and poor initial alignment. The proposed algorithm is also applied to SLAM with the use of odometry information.
KW - 6DOF SLAM
KW - Biunique correspondence
KW - ICP registration
KW - Multiple closest points
UR - http://www.scopus.com/inward/record.url?scp=80051988406&partnerID=8YFLogxK
U2 - 10.1109/3DIMPVT.2011.18
DO - 10.1109/3DIMPVT.2011.18
M3 - Conference contribution
AN - SCOPUS:80051988406
SN - 9780769543697
T3 - Proceedings - 2011 International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission, 3DIMPVT 2011
SP - 80
EP - 85
BT - Proceedings - 2011 International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission, 3DIMPVT 2011
T2 - 2011 International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission, 3DIMPVT 2011
Y2 - 16 May 2011 through 19 May 2011
ER -