Skip to main content

A symmetric objective function for ICP

Author(s): Rusinkiewicz, Szymon

Download
To refer to this page use: http://arks.princeton.edu/ark:/88435/pr19r8g
Full metadata record
DC FieldValueLanguage
dc.contributor.authorRusinkiewicz, Szymon-
dc.date.accessioned2021-10-08T19:47:17Z-
dc.date.available2021-10-08T19:47:17Z-
dc.date.issued2019-07-01en_US
dc.identifier.citationRusinkiewicz, S. (2019). A symmetric objective function for ICP. ACM Transactions on Graphics, 38 (4), 10.1145/3306346.3323037en_US
dc.identifier.issn0730-0301-
dc.identifier.urihttp://arks.princeton.edu/ark:/88435/pr19r8g-
dc.description.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.en_US
dc.language.isoen_USen_US
dc.relation.ispartofACM Transactions on Graphicsen_US
dc.rightsAuthor's manuscripten_US
dc.titleA symmetric objective function for ICPen_US
dc.typeJournal Articleen_US
dc.identifier.doidoi:10.1145/3306346.3323037-
dc.identifier.eissn1557-7368-
pu.type.symplectichttp://www.symplectic.co.uk/publications/atom-terms/1.0/journal-articleen_US

Files in This Item:
File Description SizeFormat 
SymmetricObjectiveFunctionIcp.pdf869.13 kBAdobe PDFView/Download


Items in OAR@Princeton are protected by copyright, with all rights reserved, unless otherwise indicated.