Process analysis and effectiveness evaluation of iterative closest point algorithm

Longsheng Cai; Jinguo Zhang

doi:10.1117/12.2652696

10 November 2022 Process analysis and effectiveness evaluation of iterative closest point algorithm

Longsheng Cai, Jinguo Zhang

Proceedings Volume 12331, International Conference on Mechanisms and Robotics (ICMAR 2022); 1233150 (2022) https://doi.org/10.1117/12.2652696
Event: International Conference on Mechanisms and Robotics (ICMAR 2022), 2022, Zhuhai, China

Abstract

This paper describes the iterative process and the selection strategies of parameters for the iterative closest point algorithm in details, obtains the rigid transform between the consecutive two point clouds and at the same time shows the changing of rigid transform among the iterative process. According to the perturbation analysis, this paper also provides a covariance estimation and changing tend of the rigid transform. As a result, these indicators of rigid transform indeed reflect the effectiveness of the mentioned iterative closest point algorithm.

Citation Download Citation

Longsheng Cai and Jinguo Zhang "Process analysis and effectiveness evaluation of iterative closest point algorithm", Proc. SPIE 12331, International Conference on Mechanisms and Robotics (ICMAR 2022), 1233150 (10 November 2022); https://doi.org/10.1117/12.2652696

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