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
专题复杂系统管理与控制国家重点实验室_先进控制与自动化
通讯作者Wang Rong
作者单位Institute of Automation, Chinese Academy of Sciences
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.
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