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Adaptive Dual AK-D Tree Search Algorithm for ICP Registration Applications

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7 Author(s)
Jiann-Der Lee ; Dept. of Electr. Eng., Chang Gung Univ. ; Shih-Sen Hsieh ; Chung-Hsien Huang ; Li-Chang Liu
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An algorithm for finding coupling points plays an important role in the iterative closest point algorithm (ICP) which is widely used in registration applications in medical and 3-D architecture areas. In recent researches of finding coupling points, Approximate K-D tree search algorithm (AK-D tree) is an efficient nearest neighbor search algorithm with comparable results. We proposed adaptive dual AK-D tree search algorithm (ADAK-D tree) for searching and synthesizing coupling points as significant control points to improve the registration accuracy in ICP registration applications. ADAK-D tree utilizes AK-D tree twice in different geometrical projection orders to reserve true nearest neighbor points used in later ICP stages. An adaptive threshold in ADAK-D tree is used to reserve sufficient coupling points for a smaller alignment error. Experimental results are shown that the registration accuracy of using ADAK-D tree is improved more than the result of using AK-D tree and the computation time is acceptable

Published in:

Multimedia and Expo, 2006 IEEE International Conference on

Date of Conference:

9-12 July 2006