Registration without ICP

Helmut Pottmann; Stefan Leopoldseder; Michael Hofer

doi:10.1016/j.cviu.2004.04.002

Registration without ICP

Helmut Pottmann, Stefan Leopoldseder^*, Michael Hofer

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

131 Scopus citations

Abstract

We present a new approach to the geometric alignment of a point cloud to a surface and to related registration problems. The standard algorithm is the familiar ICP algorithm. Here, we provide an alternative concept which relies on instantaneous kinematics and on the geometry of the squared distance function of a surface. The proposed algorithm exhibits faster convergence than ICP; this is supported both by results of a local convergence analysis and by experiments.

Original language	English (US)
Pages (from-to)	54-71
Number of pages	18
Journal	Computer Vision and Image Understanding
Volume	95
Issue number	1
DOIs	https://doi.org/10.1016/j.cviu.2004.04.002
State	Published - Jul 2004
Externally published	Yes

Keywords

Geometric optimization
Instantaneous kinematics
Registration
Squared distance function

ASJC Scopus subject areas

Software
Signal Processing
Computer Vision and Pattern Recognition

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10.1016/j.cviu.2004.04.002

Cite this

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title = "Registration without ICP",

abstract = "We present a new approach to the geometric alignment of a point cloud to a surface and to related registration problems. The standard algorithm is the familiar ICP algorithm. Here, we provide an alternative concept which relies on instantaneous kinematics and on the geometry of the squared distance function of a surface. The proposed algorithm exhibits faster convergence than ICP; this is supported both by results of a local convergence analysis and by experiments.",

keywords = "Geometric optimization, Instantaneous kinematics, Registration, Squared distance function",

author = "Helmut Pottmann and Stefan Leopoldseder and Michael Hofer",

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AU - Leopoldseder, Stefan

AU - Hofer, Michael

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AB - We present a new approach to the geometric alignment of a point cloud to a surface and to related registration problems. The standard algorithm is the familiar ICP algorithm. Here, we provide an alternative concept which relies on instantaneous kinematics and on the geometry of the squared distance function of a surface. The proposed algorithm exhibits faster convergence than ICP; this is supported both by results of a local convergence analysis and by experiments.

KW - Geometric optimization

KW - Instantaneous kinematics

KW - Registration

KW - Squared distance function

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DO - 10.1016/j.cviu.2004.04.002

M3 - Article

AN - SCOPUS:3042565717

SN - 1077-3142

VL - 95

SP - 54

EP - 71

JO - Computer Vision and Image Understanding

JF - Computer Vision and Image Understanding

IS - 1

ER -

Registration without ICP

Abstract

Keywords

ASJC Scopus subject areas

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