Robust Euclidean alignment of 3D point sets: The trimmed iterative closest point algorithm

Image and Vision Computing

Volumn 23, Issue 3, 2005, Pages 299-309

  Chetverikov, Dmitry ^a   Stepanov, Dmitry ^a   Krsek, Pavel ^b  

^a EÖTVÖS LORÁND UNIVERSITY   (Hungary)

^b CZECH TECHNICAL UNIVERSITY IN PRAGUE   (Czech Republic)

Author keywords

Iterative closest point; Least trimmed squares; Point sets; Registration; Robustness

Indexed keywords

ACOUSTIC NOISE; COMPUTER VISION; CONSTRAINT THEORY; CONVERGENCE OF NUMERICAL METHODS; ITERATIVE METHODS; MONTE CARLO METHODS; PARAMETER ESTIMATION; PROBLEM SOLVING; SET THEORY; SURFACES;

EUCLIDEAN ALIGNMENT; INTERACTIVE CLOSEST POINT (ICP); OVERLAPPING; PERFORMANCE EVALUATION;

ALGORITHMS;

EID: 13444287944     PISSN: 02628856     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.imavis.2004.05.007     Document Type: Article

References (23)

1. Besl P., McKay N. A method for registration of 3-D shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence. 14:1992;239-256
2. T. Pajdla, L.V. Gool, Matching of 3-D curves using semi-differential invariants, in: Fifth International Conference on Computer Vision, 1995, pp. 390-395.
3. Trucco E., Fusiello A., Roberto V. Robust motion and correspondence of noisy 3-D point sets with missing data. Pattern Recognition Letters. 20:1999;889-898
4. Chen Y., Medioni G. Object modelling by registration of multiple range images. Image and Vision Computing. 10:1992;145-155
5. K. Pulli, Surface reconstruction and display from range and color data, PhD thesis, University of Washington, Seattle, 1997.
6. S. Rusinkiewicz, M. Levoy, Efficient variants of the icp algorithm, in: Third International Conference on 3D Digital Imaging and Modeling, 2001.
7. Rousseeuw P., Leroy A. Robust Regression and Outlier Detection. Wiley Series in Probability and Mathematical Statistics. 1987
8. Zhang Z. Iterative point matching for registration of free-form curves and surfaces. International Journal of Computer Vision. 13:1994;119-152
9. A. Fitzgibbon, Robust registration of 2D and 3D point sets, in: British Machine Vision Conference, 2001.
10. Rousseeuw P., van Zomeren B. Unmasking multivariate outliers and leverage points. Journal of the American Statistical Association. 85:1990;633-651
11. Krsek P., Pajdla T., Hlaváič V., Martin R. Range image registration driven by a hierarchy of surface differential features. Gengler M., Prinz M., Schuster E. 22nd Workshop of the Austrian Association for Pattern Recognition, Österreichische Computer Gesellschaft. 1998;175-183
12. Friedman J., Bentley J., Finkel R. An algorithm for finding best matches in logarithmic expected time. ACM Transactions on Mathematical Software. 3:1977;209-226
13. Rousseeuw P. Least median of squares regression. Journal of the American Statistical Association. 79:1984;871-880
14. Rousseeuw P., Van Aelst S. Positive-breakdown robust methods in computer vision. Computing Science and Statistics. 31:1999;451-460
15. Meer P., Mintz D., Rosenfedl A., Kim D. Robust regression methods in computer vision: a review. International Journal of Computer Vision. 6:1991;59-70
16. M. Ye, R. Haralick, Optical flow from a least-trimmed squares based adaptive approach, in: Proceedings of International Conference on Pattern Recognition, vol. 3, IEEE Computer Society, 2000, pp. 1064-1067.
17. Chetverikov D. Fast neighborhood search in planar point set. Pattern Recognition Letters. 12:1991;409-412
18. Press W., Teukolsky S., Vetterling W., Flannery B. Numerical Recipes in C. 1992;Cambridge University Press, Cambridge
19. Eggert D., Lorusso A., Fisher R. Estimating 3-D rigid body transformations: a comparison of four major algorithms. International Journal of Machine Vision and Applications. 9:1997;272-290
20. University of Surrey, Guildford, UK, The SQUID database: Shape Queries Using Image Databases, www.ee.surrey.ac.uk/Research/VSSP/imagedb/demo.html.
21. Trucco E., Verri A. Introductory Techniques for 3-D Computer Vision. 1998;Prentice Hall, Englewood Cliffs, NJ
22. K. Brunnström, A. Stoddart, Genetic algorithms for free-form surface matching, in: Proceedings of International Conference on Pattern Recognition, vol. 4, IEEE Computer Society, 1996, pp. 689-693.
23. Chow C., Tsui H., Lee T. Surface registration using a dynamic genetic algorithm. Pattern Recognition. 37:2004;105-117