Reliable and Rapidly-Converging ICP Algorithm Using Multiresolution Smoothing

  title={Reliable and Rapidly-Converging ICP Algorithm Using Multiresolution Smoothing},
  author={Kok-Lim Low and Anselmo Lastra},
Autonomous range acquisition for 3D modeling requires reliable range registration, for both the precise localization of the sensor and combining the data from multiple scans for view-planning computation. We introduce and present a novel approach to improve the reliability and robustness of the ICP (Iterative Closest Point) 3D shape registration algorithm by smoothing the shape’s surface into multiple resolutions. These smoothed surfaces are used in place of the original surface in a coarse-to… CONTINUE READING
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