Predetermination of ICP Registration Errors And Its Application to View Planning

Kok-Lim Low, A. Lastra
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引用次数: 15

Abstract

We present an analytical method to estimate the absolute registration error bounds if two surfaces were to be aligned using the ICP (iterative closest point) algorithm. The estimation takes into account (1) the amount of overlap between the surfaces, (2) the noise in the surface points' positions, and (3) the geometric constraint on the 3D rigid-body transformation between the two surfaces. Given a required confidence level, the method of estimation enables us to predetermine the registration accuracy of two overlapping surfaces. This is very useful for automated range acquisition planning where it is important to ensure that the next scan to be acquired can be registered to the previous scans within the desired accuracy. We demonstrate a view-planning system that incorporates our estimation method in the selection of good candidate views for the range acquisition of indoor environments.
ICP注册错误的预判定及其在视图规划中的应用
我们提出了一种分析方法来估计绝对配准误差边界,如果两个表面是使用ICP(迭代最近点)算法对齐。该估计考虑了(1)表面之间的重叠量,(2)表面点位置中的噪声,以及(3)两个表面之间三维刚体转换的几何约束。给定所需的置信水平,估计方法使我们能够预先确定两个重叠表面的配准精度。这对于自动距离采集计划非常有用,重要的是要确保下一次要采集的扫描可以在所需的精度范围内与先前的扫描相匹配。我们展示了一个视图规划系统,该系统将我们的估计方法用于室内环境距离获取的良好候选视图的选择。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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