Fast and high-accurate 3D registration algorithm using hierarchical M-ICP

Haruhisa Okuda; Yasuo Kitaaki; Manabu Hashimoto; Shun'ichi Kaneko

doi:10.1117/12.648811

6 December 2005 Fast and high-accurate 3D registration algorithm using hierarchical M-ICP

Haruhisa Okuda, Yasuo Kitaaki, Manabu Hashimoto, Shun'ichi Kaneko

Proceedings Volume 6051, Optomechatronic Machine Vision; 60510N (2005) https://doi.org/10.1117/12.648811
Event: Optomechatronic Technologies 2005, 2005, Sapporo, Japan

Abstract

This paper presents a novel fast and high-accurate 3-D registration algorithm. The ICP (Iterative Closest Point) algorithm converges all the 3-D data points of two data sets to the best matching points with minimum evaluation values. This algorithm is broadly used, because it has good availability to many applications. But, it needs many computational costs and it is very sensible to error values. Because, it uses whole data points of two data sets and least mean square optimization. We had proposed the M-ICP algorithm, which is an extension of the ICP algorithm based on modified M-estimation for realization of robustness against outlying gross noise. The proposed algorithm named HM-ICP (Hierarchical M-ICP) is an extension of the M-ICP with selecting region for matching and hierarchical searching of selected regions. In this algorithm, we select regions using evaluation of variance for distance values in the target region and homogeneous topological mapping. Some fundamental experiments utilizing real data sets of 3-D measurement show effectiveness of the proposed method. We achieved more than 4-digits number reduction of computational costs and confirmed less than 0.1% error to the measurement distance.

Citation Download Citation

Haruhisa Okuda, Yasuo Kitaaki, Manabu Hashimoto, and Shun'ichi Kaneko "Fast and high-accurate 3D registration algorithm using hierarchical M-ICP", Proc. SPIE 6051, Optomechatronic Machine Vision, 60510N (6 December 2005); https://doi.org/10.1117/12.648811

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