On the performance of the ICP algorithm (Q934025)
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scientific article; zbMATH DE number 5304598
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| English | On the performance of the ICP algorithm |
scientific article; zbMATH DE number 5304598 |
Statements
On the performance of the ICP algorithm (English)
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29 July 2008
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A rigorous analysis is given for the iterative closest point (ICP) algorithm proposed by \textit{P. J. Besl} and {N. D. McKay} [A method for registration of 3-d shapes, IEEE Trans. Pattern Anal. Mach. Intell. 14, No. 2, 239--256 (1992)] as a successful heuristic for matching of point sets in \(d\)-space under translation. They consider two measures: The RMS (root mean squared distance) and the (one-sided) Hausdorff distance. They showed that in both cases the number of iterations performed by the algorithm is polynomial in the number of input points.
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pattern matching
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nearest neighbors
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Voronoi diagrams
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Hausdorff distance
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iterative closest point (ICP) algorithm proposed
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0.8304564356803894
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0.8240257501602173
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0.8025561571121216
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0.7995719909667969
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