{"title":"Cached k-d tree search for ICP algorithms","authors":"A. Nüchter, K. Lingemann, J. Hertzberg","doi":"10.1109/3DIM.2007.15","DOIUrl":null,"url":null,"abstract":"The ICP (iterative closest point) algorithm is the de facto standard for geometric alignment of three-dimensional models when an initial relative pose estimate is available. The basis of ICP is the search for closest points. Since the development of ICP, k-d trees have been used to accelerate the search. This paper presents a novel search procedure, namely cached k-d trees, exploiting iterative behavior of the ICP algorithm. It results in a significant speedup of about 50% as we show in an evaluation using different data sets.","PeriodicalId":442311,"journal":{"name":"Sixth International Conference on 3-D Digital Imaging and Modeling (3DIM 2007)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2007-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"180","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Sixth International Conference on 3-D Digital Imaging and Modeling (3DIM 2007)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/3DIM.2007.15","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 180
Abstract
The ICP (iterative closest point) algorithm is the de facto standard for geometric alignment of three-dimensional models when an initial relative pose estimate is available. The basis of ICP is the search for closest points. Since the development of ICP, k-d trees have been used to accelerate the search. This paper presents a novel search procedure, namely cached k-d trees, exploiting iterative behavior of the ICP algorithm. It results in a significant speedup of about 50% as we show in an evaluation using different data sets.