Two-pass ICP with Color constraint for noisy RGB-D point cloud registration

We present a novel method called Two-Pass Iterative Closest Point (ICP) considering color information and depth noise characteristic for registration of noisy RGB-D data. While the first pass is same as the conventional ICP, color information is used as a constraint to the second pass against incorrect matches caused by the depth noise. Experimental results show that jitter is remarkably reduced using the proposed method.