Go-ICP: A Globally Optimal Solution to 3D ICP Point-Set Registration
Australian National University · Beijing Institute of Technology · +1 more institution
Abstract
The Iterative Closest Point (ICP) algorithm is one of the most widely used methods for point-set registration. However, being based on local iterative optimization, ICP is known to be susceptible to local minima. Its performance critically relies on the quality of the initialization and only local optimality is guaranteed. This paper presents the first globally optimal algorithm, named Go-ICP, for Euclidean (rigid) registration of two 3D point-sets under the $L_2$ error metric defined in ICP. The Go-ICP method is based on a branch-and-bound scheme that searches the entire 3D motion space $SE(3)$ . By exploiting the special structure of $SE(3)$ geometry, we derive novel upper and lower bounds for the…
Citation impact
- FWCI
- 571.15
- Percentile
- 100%
- References
- 83
Authors
4Topics & keywords
- Initialization
- Iterative closest point
- Robustness (evolution)
- Maxima and minima
- Outlier
- Computer science
- Mathematical optimization
- Algorithm