Cart (Loading....) | Create Account
Close category search window
 

A multi-resolution ICP with heuristic closest point search for fast and robust 3D registration of range images

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Jost, T. ; Inst. of Microtechnol., Neuchatel Univ., Switzerland ; Hugli, H.

The iterative closest point (ICP) algorithm is widely used for the registration of 3D geometric data. One of the main drawbacks of the algorithm is its quadratic time complexity O(N2) with the number of points N. Consequently, several methods have been proposed to accelerate the process. We present a new solution for the speeding up of the ICP algorithm and special care is taken to avoid any tradeoff with the quality of the registration. The proposed solution combines a coarse to fine multiresolution approach with the neighbor search algorithm. The multiresolution approach permits to successively improve the registration using finer levels of representation and the neighbor search algorithm speeds up the closest point search by using a heuristic approach. Both multiresolution scheme and neighbor search algorithm main features are presented. Confirming the success of the proposed solution, typical results show that this combination permits to create a very fast ICP algorithm, with a closest point search complexity of O(N), while preserving the matching quality.

Published in:

3-D Digital Imaging and Modeling, 2003. 3DIM 2003. Proceedings. Fourth International Conference on

Date of Conference:

6-10 Oct. 2003

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.