Registration without ICP

Authors:
Helmut Pottmann;Stefan Leopoldseder;Michael Hofer
Affiliations:
Geometric Modeling and Industrial Geometry Group, Vienna University of Technology, Wiedner Hauptstrasse 8-10, A-1040 Wien, Austria;Geometric Modeling and Industrial Geometry Group, Vienna University of Technology, Wiedner Hauptstrasse 8-10, A-1040 Wien, Austria;Geometric Modeling and Industrial Geometry Group, Vienna University of Technology, Wiedner Hauptstrasse 8-10, A-1040 Wien, Austria
Venue:
Computer Vision and Image Understanding
Year:
2004

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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.