Accelerated point set registration method

Abstract

In computer vision and robotics, point set registration is a fundamental issue used to estimate the relative position and orientation (pose) of an object in an environment. In a rapidly changing scene, this method must be executed frequently and in a timely manner, or the pose estimation becomes outdated. The point registration method is a computational bottleneck of a vision-processing pipeline. For this reason, this paper focuses on speeding up a widely used point registration method, the iterative closest point (ICP) algorithm. In addition, the ICP algorithm is transformed into a massively parallel algorithm and mapped onto a vector processor to realize a speedup of approximately an order of magnitude. Finally, we provide algorithmic and run-time analysis.