Registration by using a pseudo color attribute

This paper presents a new variant of the classical Iterative Closest Point (ICP) algorithm. The ICP result depends heavily on the matching between 3D points of the two cloud of points to be registered : besides the 3D distance between points, many other attributes have been proposed to find good matchings, and especially, when available, color or texture attributes could be compared to confirm pairings between closest points. In our system, 3D data are acquired by a monochromatic stereovision sensor ; a simple method is proposed to associate a pseudo-color to every 3D point, only from its position in the cloud. Our ICP implementation is slower than the classic ICP algorithm but it is shown that it gives better registration, either on our stereo data or on data sets used for the benchmarking of 3D modelling algorithm.