Predetermination of ICP Registration Errors And Its Application to View Planning

机译：ICP注册错误的预先确定及其在视图规划中的应用

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We present an analytical method to estimate the absolute registration error bounds if two surfaces were to be aligned using the ICP (Iterative Closest Point) algorithm. The estimation takes into account (1) the amount of overlap between the surfaces, (2) the noise in the surface points'' positions, and (3) the geometric constraint on the 3D rigid-body transformation between the two surfaces. Given a required confidence level, the method of estimation enables us to predetermine the registration accuracy of two overlapping surfaces. This is very useful for automated range acquisition planning where it is important to ensure that the next scan to be acquired can be registered to the previous scans within the desired accuracy. We demonstrate a view-planning system that incorporates our estimation method in the selection of good candidate views for the range acquisition of indoor environments.

机译：如果要使用ICP（迭代最近点）算法对齐两个表面，则我们提出了一种估算绝对配准误差范围的分析方法。该估计考虑了（1）曲面之间的重叠量，（2）曲面点位置的噪声以及（3）两个曲面之间的3D刚体变换的几何约束。给定所需的置信度，估计方法使我们能够预先确定两个重叠表面的配准精度。这对于自动范围采集计划非常有用，在该计划中，重要的是要确保可以在希望的精度内将要采集的下一个扫描记录到以前的扫描中。我们演示了一种视图计划系统，该系统将我们的估算方法结合到了用于室内环境范围获取的良好候选视图的选择中。

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《3-D Digital Imaging and Modeling, 2007 6th International Conference on》|1979年|P.73-80|共8页
会议地点 Philadelphia PA(US)
作者
Low Kok-Lim; Lastra Anselmo;
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正文语种 eng
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Predetermination of ICP Registration Errors And Its Application to View Planning

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