Knowledge Commons of Institute of Automation,CAS
WA-ICP Algorithm for Tackling Ambiguous Correspondence | |
Wang, Rong; Geng, Zheng; Wang Rong | |
2015 | |
会议名称 | Asian Conference on Pattern Recognition |
页码 | 76-80 |
会议日期 | 2015.11.3-6 |
会议地点 | Malaysia |
摘要 |
This paper proposes a weighted average iterative closest point (ICP) algorithm (WA-ICP) to register multiple 3D surfaces. The new algorithm aims to tackle ambiguous correspondence and clearly improves the efficiency and reliability of 3D surface registration. We developed the WA-ICP theory, implemented the algorithm and evaluated its performance on two typical groups of surface samples. The performance of our new method is compared with both traditional ICP and weighted ICP. We also integrate a more elaborate scheme using normals for comparison. Our experiments show that WA-ICP has a good quality of convergence rate especially in the early iterations. The algorithm is also validated to be robust to low resolution and noise perturbation of 3D surfaces. Despite its simple form, the proposed WA-ICP clearly shows improved performance and some robust characteristics. |
关键词 | Registration Icp |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/20107 |
专题 | 多模态人工智能系统全国重点实验室_平行智能技术与系统团队 |
通讯作者 | Wang Rong |
作者单位 | Institute of Automation, Chinese Academy of Sciences |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Wang, Rong,Geng, Zheng,Wang Rong. WA-ICP Algorithm for Tackling Ambiguous Correspondence[C],2015:76-80. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
WA-ICP Algorithm for(478KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论