publication . Other literature type . Conference object . 1992

Method for registration of 3-D shapes

Paul J. Besl; Neil D. McKay;
  • Published: 30 Apr 1992
  • Publisher: SPIE-Intl Soc Optical Eng
This paper describes a general purpose, representation independent method for the accurate and computationally efficient registration of 3-D shapes including free-form curves and surfaces. The method handles the full six-degrees of freedom and is based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point. The ICP algorithm always converges monotonically to the nearest local minimum of a mean-square distance metric, and experience shows that the rate of convergence is rapid during the first few iterations. Therefore, given an adequate set of initial rotations and translati...
ACM Computing Classification System: ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
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