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A symmetric objective function for ICP

Author(s): Rusinkiewicz, Szymon

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Abstract: © 2019 Copyright held by the owner/author(s). Publication rights licensed to ACM. The Iterative Closest Point (ICP) algorithm, commonly used for alignment of 3D models, has previously been defined using either a point-to-point or point-to-plane objective. Alternatively, researchers have proposed computationally-expensive methods that directly minimize the distance function between surfaces. We introduce a new symmetrized objective function that achieves the simplicity and computational efficiency of point-to-plane optimization, while yielding improved convergence speed and a wider convergence basin. In addition, we present a linearization of the objective that is exact in the case of exact correspondences. We experimentally demonstrate the improved speed and convergence basin of the symmetric objective, on both smooth models and challenging cases involving noise and partial overlap.
Publication Date: 1-Jul-2019
Citation: Rusinkiewicz, S. (2019). A symmetric objective function for ICP. ACM Transactions on Graphics, 38 (4), 10.1145/3306346.3323037
DOI: doi:10.1145/3306346.3323037
ISSN: 0730-0301
EISSN: 1557-7368
Type of Material: Journal Article
Journal/Proceeding Title: ACM Transactions on Graphics
Version: Author's manuscript

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