Building Correspondence Based on Matching Triangles for Partial Registration

As an important problem in point set registration, partial registration has been solved by some variants of Iterative Closest Point (ICP) algorithm under good initial values. However, the initial parameters remained to be solved for partial registration. This paper presents a parameter initialization algorithm based on matching triangles for partial registration. Experimental results demonstrate that the proposed initialization method can find an appropriate initial transformation for next accurate registration, even the initial rotation angle between two sets is large. Based on the initialization of two point sets, the partial registration can be accomplished by auto trimmed ICP (ATICP) algorithm.