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Error sensitivity of rotation angles in the ICP algorithm

Title
Error sensitivity of rotation angles in the ICP algorithm
Authors
Lee Byung-UkKim Chul-MinPark Rae-Hong
Ewha Authors
이병욱
SCOPUS Author ID
이병욱scopus
Issue Date
1999
Journal Title
Proceedings of SPIE - The International Society for Optical Engineering
ISSN
0277-786XJCR Link
Citation
Proceedings of SPIE - The International Society for Optical Engineering vol. 3640, pp. 146 - 156
Publisher
Society of Photo-Optical Instrumentation Engineers, Bellingham, WA, United States
Indexed
SCOPUS scopus
Document Type
Article
Abstract
The accuracy of the iterative closest point (ICP) algorithm, which is widely employed in image registration, depends on the complexity of the shape of the object under registration. Objects with complex features yield higher reliability in estimating registration parameters. For objects with rotation symmetry, a cylinder for example, rotation along the center axis can not be distinguished. We derive the sensitivity of the rotation error of the ICP algorithm from the curvature of the error function near the minimum error position. We approximate the defined error function to a second-order polynomial and show that the coefficient of the second-order term is related to the reliability of the estimated rotation angle. Also the coefficient is related to the shape of the object. In the known correspondence case, the reliability can be expressed by the second moment of the input image. Finally, we apply the sensitivity formula to a simple synthetic object and ellipses, and verify that the predicted orientation variance of the ICP algorithm is in good agreement with computer simulations.
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공과대학 > 전자전기공학전공 > Journal papers
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