Point cloud registration algorithm based on improved ICP

Qian Qin; Daqing Huang; Yixin Yang; Ying Zhao

doi:10.1117/12.2673317

14 April 2023 Point cloud registration algorithm based on improved ICP

Qian Qin, Daqing Huang, Yixin Yang, Ying Zhao

Proceedings Volume 12613, International Conference on Computer Vision, Application, and Algorithm (CVAA 2022); 1261312 (2023) https://doi.org/10.1117/12.2673317
Event: International Conference on Computer Vision, Application, and Algorithm (CVAA 2022), 2022, Chongqing, China

Abstract

Visual SLAM systems are well established and the use of point clouds as a data source is also increasing. There are also higher demands on the registration of point cloud data. Traditional ICP algorithms are prone to fall into the problem of local optimal solutions in 3D point cloud data registration. To this end, the ICP algorithm was further improved by optimizing the objective function and reducing the density of the point cloud, with the aim of improving the accuracy and speed of point cloud registration.

Citation Download Citation

Qian Qin, Daqing Huang, Yixin Yang, and Ying Zhao "Point cloud registration algorithm based on improved ICP", Proc. SPIE 12613, International Conference on Computer Vision, Application, and Algorithm (CVAA 2022), 1261312 (14 April 2023); https://doi.org/10.1117/12.2673317

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