Title :
Outlier Robust ICP for Minimizing Fractional RMSD
Author :
Phillips, Jeff M. ; Liu, Ran ; Tomasi, Carlo
Author_Institution :
Duke Univ., Durham
Abstract :
We describe a variation of the iterative closest point (ICP) algorithm for aligning two point sets under a set of transformations. Our algorithm is superior to previous algorithms because (1) in determining the optimal alignment, it identifies and discards likely outliers in a statistically robust manner, and (2) it is guaranteed to converge to a locally optimal solution. To this end, we formalize a new distance measure, fractional root mean squared distance (FRMSD), which incorporates the fraction of inliers into the distance function. Our framework can easily incorporate most techniques and heuristics from modern registration algorithms. We experimentally validate our algorithm against previous techniques on 2 and 3 dimensional data exposed to a variety of outlier types.
Keywords :
image registration; iterative methods; mean square error methods; fractional root mean squared distance; iterative closest point algorithm; locally optimal solution; optimal alignment; registration algorithms; Atom lasers; Biochemistry; Biomedical imaging; Deformable models; Image reconstruction; Iterative algorithms; Iterative closest point algorithm; Laser modes; Radio access networks; Robustness;
Conference_Titel :
3-D Digital Imaging and Modeling, 2007. 3DIM '07. Sixth International Conference on
Conference_Location :
Montreal, QC
Print_ISBN :
978-0-7695-2939-4
DOI :
10.1109/3DIM.2007.39