Robust ICP Registration Using Biunique Correspondence

• Published in: 2011 International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission pp. 80 - 85
• Main Authors: Lei Zhang, Sung-In Choi, Soon-Yong Park
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.05.2011
• Subjects: 6DOF SLAM; Approximation algorithms; biunique correspondence; Computational efficiency; Data models; ICP registration; Iterative closest point algorithm; Measurement; multiple closest points; Robustness; Simultaneous localization and mapping
• ISBN: 1612844294; 9781612844299
• ISSN: 1550-6185
• DOI: 10.1109/3DIMPVT.2011.18

In this paper, a novel variant of the ICP algorithm is proposed for registration of partially overlapping range images. Biunique correspondence is introduced to enhance the performance of ICP by searching multiple closest points. A new kind of outlier is defined, called No-Correspondence (NC) Outlier, which is the point that is not assigned to a biunique correspondence. In order to maintain efficiency, a coarse-to-fine approach is adopted. Experiments show that the proposed algorithm can find the correct rigid transformation with the existence of large non-overlapping area and poor initial alignment. The proposed algorithm is also applied to SLAM with the use of odometry information.