WSICP: Weighted Scaled Iterative Closest Point Algorithm for Point Set Registration
Pages 34 - 38
Abstract
Rotation, anisotropic scaling, translation, outliers and noise are common problems in point set registration. In order to solve the point set registration under the above conditions, a robust weighted scaled iterative nearest point (WSICP) algorithm is proposed in this paper. Based on the Euclidean distance between point pairs, a weighted strategy of point pairwise is designed to reduce the influence of outliers and noise points on the solution of transformation matrix. Next, the brief and clear registration transform matrices of rotation, scale and translation are given. Experiments result show that our algorithm performs better than others on registration accuracy and convergence quality under scale stretching, outliers and noise case.
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Index Terms
- WSICP: Weighted Scaled Iterative Closest Point Algorithm for Point Set Registration
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Published In
June 2019
127 pages
ISBN:9781450371469
DOI:10.1145/3338472
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- The Hong Kong Polytechnic: The Hong Kong Polytechnic University
- City University of Hong Kong: City University of Hong Kong
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Association for Computing Machinery
New York, NY, United States
Publication History
Published: 01 June 2019
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ICGSP '19
ICGSP '19: 2019 The 3rd International Conference on Graphics and Signal Processing
June 1 - 3, 2019
Hong Kong, Hong Kong
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