The trimmed iterative closest point algorithm

D. Chetverikov, D. Svirko, D. Stepanov, Pavel Krsek

Research output: Chapter in Book/Report/Conference proceedingConference contribution

252 Citations (Scopus)

Abstract

The problem of geometric alignment of two roughly pre-registered, partially overlapping, rigid, noisy 3D point sets is considered. A new natural and simple, robustified extension of the popular Iterative Closest Point (ICP) algorithm [1] is presented, called the Trimmed ICP (TrICP). The new algorithm is based on the consistent use of the Least Trimmed Squares (LTS) approach in all phases of the operation. Convergence is proved and an efficient implementation is discussed. TrICP is fast, applicable to overlaps under 50%, robust to erroneous measurements and shape defects, and has easy-to-set parameters. ICP is a special case of TrICP when the overlap parameter is 100%. Results of testing the new algorithm are shown.

Original languageEnglish
Title of host publicationProceedings - International Conference on Pattern Recognition
Pages545-548
Number of pages4
Volume16
Edition3
Publication statusPublished - 2002

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture

Cite this

Chetverikov, D., Svirko, D., Stepanov, D., & Krsek, P. (2002). The trimmed iterative closest point algorithm. In Proceedings - International Conference on Pattern Recognition (3 ed., Vol. 16, pp. 545-548)

The trimmed iterative closest point algorithm. / Chetverikov, D.; Svirko, D.; Stepanov, D.; Krsek, Pavel.

Proceedings - International Conference on Pattern Recognition. Vol. 16 3. ed. 2002. p. 545-548.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Chetverikov, D, Svirko, D, Stepanov, D & Krsek, P 2002, The trimmed iterative closest point algorithm. in Proceedings - International Conference on Pattern Recognition. 3 edn, vol. 16, pp. 545-548.
Chetverikov D, Svirko D, Stepanov D, Krsek P. The trimmed iterative closest point algorithm. In Proceedings - International Conference on Pattern Recognition. 3 ed. Vol. 16. 2002. p. 545-548
Chetverikov, D. ; Svirko, D. ; Stepanov, D. ; Krsek, Pavel. / The trimmed iterative closest point algorithm. Proceedings - International Conference on Pattern Recognition. Vol. 16 3. ed. 2002. pp. 545-548
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