Robust and precise isotropic scaling registration algorithm using bi-directional distance and correntropy

Cui, Wenting; Du, Shaoyi; Wan, Teng; Yao, Runzhao; Liu, Yuying; Han, Mengqi; Mou, Qingnan; Guo, Yucheng; Zheng, Nanning

doi:10.1016/j.patrec.2020.07.026

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A Review Of the Traditional Affine Icp Algorithm1

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“…The traditional affine ICP algorithm is a very widely used registration algorithm [ 40 , 41 , 42 ]. We usually define two point sets

and

in a space

.…”

Section: A Review Of the Traditional Affine Icp Algorithmmentioning

confidence: 99%

Affine Iterative Closest Point Algorithm Based on Color Information and Correntropy for Precise Point Set Registration

Liang

Pei

2023

Sensors

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In this paper, we propose a novel affine iterative closest point algorithm based on color information and correntropy, which can effectively deal with the registration problems with a large number of noise and outliers and small deformations in RGB-D datasets. Firstly, to alleviate the problem of low registration accuracy for data with weak geometric structures, we consider introducing color features into traditional affine algorithms to establish more accurate and reliable correspondences. Secondly, we introduce the correntropy measurement to overcome the influence of a large amount of noise and outliers in the RGB-D datasets, thereby further improving the registration accuracy. Experimental results demonstrate that the proposed registration algorithm has higher registration accuracy, with error reduction of almost 10 times, and achieves more stable robustness than other advanced algorithms.

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“…The traditional affine ICP algorithm is a very widely used registration algorithm [ 40 , 41 , 42 ]. We usually define two point sets

and

in a space

.…”

Section: A Review Of the Traditional Affine Icp Algorithmmentioning

confidence: 99%