3D surface registration via iterative closest point (ICP)

Abstract:

The central theme of this chapter is surface registration, i.e. how to compute the correspondence between two surfaces, which are known to be overlapping or partially overlapping, w.r.t. the same underlying geometry. The algorithm presented to do this is the iterative closest point (ICP) algorithm, aimed at registering two individual 3D point sets. The ICP algorithm is covered in enough detail for the students to construct the algorithm as an exercise. The standard ICP algorithm is extended with an adapted version aimed at partially overlapping point sets. The chapter takes its outset in the merging of several partial surfaces, e.g. lasers scans, of a surface, and how to merge these into one. A methods for doing this is outlined, where registration is a central part, and references to the other tools are given, all covered elsewhere in this book.

Año de publicación:

2012

Keywords:

Fuente:

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