Robust ICP Registration Algorithm Extended by M-estimation

Shunichi KANEKO; Tomonori KONDO; Atsushi MIYAMOTO

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Robust ICP Registration Algorithm Extended by M-estimation

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摘要

An extension of the ICP (Iterative Closest Point) registration algorithm based on modified M-estimation for realization of robustness against outlying gross noise in two point data sets. The proposed algorithm is utilized to obtain a transformation consisting of rotation and translation parameters in order to perform the best fit between the data sets. An objective function which includes independent residual components for each of xyz coordinates is defined to evaluate the fit between the data sets, taking account of distribution of the outlying noise, which occurs due to occlusion, shadowing, or highlighting in measurement. The approach is based on modifid M-estimation through an iterative procedure for optimization of the transform for correspondence. Some fundamental experiments utilizing real data of 2D and 3D measurement show effectiveness of the proposed method.

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《精密工学会誌》 |2001年第8期|1276-1280|共5页
作者
Shunichi KANEKO; Tomonori KONDO; Atsushi MIYAMOTO;
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正文语种日语
中图分类机械制造工艺;仪器、仪表;
关键词
range data; registration; object recognition; robustness; occlusion;

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专利

1. Robust ICP registration algorithm extended by M-estimation [J] . Tomonori Kondo, Atsushi Miyamoto, Shunichi KanekoSatoru Igarashi 電子情報通信学会技術研究報告. パターン認識·メディア理解. Pattern Recognition and Media Understanding . 2000,第507期

机译：Robust ICP registration algorithm extended by M-estimation
2. KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way [J] . Ignacio Vizzo, Tiziano Guadagnino, Benedikt MerschLouis WiesmannJens BehleyCyrill Stachniss IEEE robotics and automation letters . 2023,第2期

机译：KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way
3. Point cloud registration algorithm based on ICP algorithm and 3D-NDT algorithm [J] . Jiangge Huang, Bo Tao, Fei Zeng International journal of wireless and mobile computing: IJWMC . 2022,第2期

机译：Point cloud registration algorithm based on ICP algorithm and 3D-NDT algorithm
4. 具有模型不确定性的单值MAC鲁棒性分析（Robust Properties of Model Algorithmic Control Based on Single PredictionWith Model Uncertainty） [C] . Chinese Control Conference vol.2; 20040810-13; Wuxi(CN) . 2004

机译：具有模型不确定性的单值MAC鲁棒性分析（Robust Properties of Model Algorithmic Control Based on Single PredictionWith Model Uncertainty）
5. Developments in ICP-MS: Electrochemically modulated liquid chromatography for the clean-up of ICP-MS blanks and reduction of matrix effects by flow injection ICP-MS [D] . Gross, Cory Thomas 2008

机译：ICP-MS的发展：电化学调制液相色谱法，用于清洁ICP-MS毛坯并通过流动注射ICP-MS降低基质效应
6. Overexpression of the herpes simplex virus type 1 immediate-early regulatory protein ICP27 is responsible for the aberrant localization of ICP0 and mutant forms of ICP4 in ICP4 mutant virus-infected cells. [O] . Z Zhu, N A DeLuca, P A Schaffer 1996

机译：单纯疱疹病毒1型立即早期调节蛋白ICP27的过度表达是ICP0和ICP4突变体形式在ICP4突变病毒感染的细胞中异常定位的原因。
7. Determinação de fósforo orgânico em águas de produção petrolífera por ICP- AES e ICP- MS após pré-concentração em coluna de sílica-C18 Determination of organic phosphorus in oil production waters by ICP-AES and ICP-MS after preconcentration on silica immobilized C18 [O] . Anderson Araújo Rocha, Norbert Miekeley, Carmem Lúcia Porto da Silveira, 1998

机译：ICp-aEs，ICp-aEs，ICp-ms，ICp-ms，ICp-ms，ICp-ms，ICp-ms，ICp-ms，ICp-ms，ICp-ms，ICp-ms，ICp-ms，ICp-ms，ICp-ms，ICp-ms，ICp-ms，ICp-ms，ICp-ms，ICp-ms，ICp-ms测定石油生产用水中的有机磷
8. Cartesian Product of a k-Extendable and an l-Extendable Graph is (k + l +1)-Extendable [R] . Gyori, E., Plummer, M. D. 1991

机译：k-extendable和l-Extendable Graph的笛卡尔积是（k + l +1） - 可扩展

Robust ICP Registration Algorithm Extended by M-estimation

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