A method for registration of 3-D shapes
Besl, P.J.; McKay, H.D.
Pattern Analysis and Machine Intelligence, IEEE Transactions on
Volume 14, Issue 2, Feb 1992 Page(s):239 - 256
Digital Object Identifier 10.1109/34.121791
Summary:The authors describe a general-purpose, representation-independent
method for the accurate and computationally efficient registration of
3-D shapes including free-form curves and surfaces. The method handles
the full six degrees of freedom and is based on the iterative closest
point (ICP) algorithm, which requires only a procedure to find the
closest point on a geometric entity to a given point. The ICP algorithm
always converges monotonically to the nearest local minimum of a
mean-square distance metric, and the rate of convergence is rapid during
the first few iterations. Therefore, given an adequate set of initial
rotations and translations for a particular class of objects with a
certain level of `shape complexity', one can globally minimize the
mean-square distance metric over all six degrees of freedom by testing
each initial registration. One important application of this method is
to register sensed data from unfixtured rigid objects with an ideal
geometric model, prior to shape inspection. Experimental results show
the capabilities of the registration algorithm on point sets, curves,
and surfaces
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