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Precise iterative closest point algorithm with corner point constraint for isotropic scaling registration

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Abstract

The traditional iterative closest point (ICP) algorithm could register two point sets well, but it is easily affected by local dissimilarity. To deal with this problem, this paper proposes an isotropic scaling ICP algorithm with corner point constraint. First of all, because the corner points can preserve the similarity of the whole shapes, an objective function based on least square error is proposed under the guidance of the corner points. Second, a new ICP algorithm is proposed to complete the isotropic scaling registration. At each iterative step of this new algorithm, the correspondence is built based on the closest point searching, and then a closed-form solution of the transformation is computed. This new algorithm converges monotonically to a local minimum from any given initial scaling transformation. To obtain the expected minimum, the traditional scaling ICP algorithm is applied to compute the initial transformation. The experimental results demonstrate that our algorithm can prevent the influence of the local dissimilarity and improve the registration precision compared with the traditional ICP algorithm.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China under Grant Nos. 61573274 and 61627811, the Fundamental Research Funds for the Central Universities under Grant No. xjj2017005, and the Program of Introducing Talents of Discipline to University under Grant No. B13043.

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Authors and Affiliations

  1. Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Xi’an, 710049, Shaanxi, People’s Republic of China

    Shaoyi Du, Xuetao Zhang & Guanglin Xu

  2. School of Software Engineering, Xi’an Jiaotong University, Xi’an, 710049, Shaanxi, People’s Republic of China

    Wenting Cui & Sirui Zhang

  3. Air Force Engineering University, Xi’an, 710038, Shaanxi, People’s Republic of China

    Liyang Wu

  4. The Second Affiliated Hospital of Xi’an Jiaotong University, Xi’an, 710004, Shaanxi, People’s Republic of China

    Meifeng Xu

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  1. Shaoyi Du
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  2. Wenting Cui
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  3. Liyang Wu
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  4. Sirui Zhang
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  5. Xuetao Zhang
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  6. Guanglin Xu
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  7. Meifeng Xu
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Correspondence to Meifeng Xu.

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Du, S., Cui, W., Wu, L. et al. Precise iterative closest point algorithm with corner point constraint for isotropic scaling registration. Multimedia Systems 25, 119–126 (2019). https://doi.org/10.1007/s00530-017-0573-6

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  • DOI: https://doi.org/10.1007/s00530-017-0573-6

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