Larkins, R.L. Cree, M. J. & Dorrington, A.A. (2010). Analysis of ICP variants for the registration of partially overlapping time-of-flight range images. In Proceedings of 2010 25th International Conference of Image and Vision Computing New Zealand (IVCNZ), 8-9 November 2010 (pp. 1-8).
Permanent Research Commons link: https://hdl.handle.net/10289/6172
The iterative closest point (ICP) algorithm is one of the most commonly used methods for registering partially overlapping range images. Nevertheless, this algorithm was not originally designed for this task, and many variants have been proposed in an effort to improve its prociency. The relatively new full-field amplitude-modulated time-of-flight range imaging cameras present further complications to registration in the form of measurement errors due to mixed and scattered light. This paper investigates the effectiveness of the most common ICP variants applied to range image data acquired from full-field range imaging cameras. The original ICP algorithm combined with boundary rejection performed the same as or better than the majority of variants tested. In fact, many of these variants proved to decrease the registration alignment.
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