ICP with Bounded Scale for Registration of M-D Point Sets

Abstract

The iterative closest point (ICP) algorithm is an accurate and fast approach for registration between two point sets in a same scale, but it doesn't handle the case with different scales. This paper instead introduces a novel approach named the iterative closest point with bounded scale (ICPBS) algorithm which integrates a scale with boundaries into the traditional ICP algorithm. This proposed technique uses the singular value decomposition algorithm and the properties of parabola to compute the similar transformation at each iterative step, and yields more satisfying robust results than the traditional ICP method in registration between two m-D point sets with different scales. Experimental results demonstrate the presented method is robust and fast for practical use.