A point-to-plane registration algorithm for orthogonal transformations

Artyom Makovetskii; Sergei Voronin; Vitaly Kober; Aleksei Voronin

doi:10.1117/12.2321396

17 September 2018 A point-to-plane registration algorithm for orthogonal transformations

Artyom Makovetskii, Sergei Voronin, Vitaly Kober, Aleksei Voronin

Proceedings Volume 10752, Applications of Digital Image Processing XLI; 107522R (2018) https://doi.org/10.1117/12.2321396
Event: SPIE Optical Engineering + Applications, 2018, San Diego, California, United States

Abstract

The key point of the ICP algorithm is the search of either an orthogonal or affine transformations, which is the best in sense of the quadratic metric to combine two point clouds with a given correspondence between points. The point-toplane metric performs better than the point-point metric in terms of the accuracy and convergence rate. A closed-form solution to the point-to-plane case for orthogonal transformations is an open problem. In this presentation, we propose an approximation of the closed-form solution to the point-to-plane problem for orthogonal transformations.

Citation Download Citation

Artyom Makovetskii, Sergei Voronin, Vitaly Kober, and Aleksei Voronin "A point-to-plane registration algorithm for orthogonal transformations", Proc. SPIE 10752, Applications of Digital Image Processing XLI, 107522R (17 September 2018); https://doi.org/10.1117/12.2321396

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