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Robust ICP Registration Using Biunique Correspondence

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3 Author(s)
Lei Zhang ; Sch. of Electr. Eng. & Comput. Sci., Kyungpook Nat. Univ., Daegu, South Korea ; Sung-In Choi ; Soon-Yong Park

In this paper, a novel variant of the ICP algorithm is proposed for registration of partially overlapping range images. Biunique correspondence is introduced to enhance the performance of ICP by searching multiple closest points. A new kind of outlier is defined, called No-Correspondence (NC) Outlier, which is the point that is not assigned to a biunique correspondence. In order to maintain efficiency, a coarse-to-fine approach is adopted. Experiments show that the proposed algorithm can find the correct rigid transformation with the existence of large non-overlapping area and poor initial alignment. The proposed algorithm is also applied to SLAM with the use of odometry information.

Published in:

3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT), 2011 International Conference on

Date of Conference:

16-19 May 2011