Please use this identifier to cite or link to this item:
|Title:||Predetermination of ICP registration errors and its application to view planning|
|Authors:||Low, K.-L. |
|Source:||Low, K.-L.,Lastra, A. (2007). Predetermination of ICP registration errors and its application to view planning. 3DIM 2007 - Proceedings 6th International Conference on 3-D Digital Imaging and Modeling : 73-80. ScholarBank@NUS Repository. https://doi.org/10.1109/3DIM.2007.41|
|Abstract:||We present an analytical method to estimate the absolute registration error bounds if two surfaces were to be aligned using the ICP (Iterative Closest Point) algorithm. The estimation takes into account (1) the amount of overlap between the surfaces, (2) the noise in the surface points' positions, and (3) the geometric constraint on the 3D rigid-body transformation between the two surfaces. Given a required confidence level, the method of estimation enables us to predetermine the registration accuracy of two overlapping surfaces. This is very useful for automated range acquisition planning where it is important to ensure that the next scan to be acquired can be registered to the previous scans within the desired accuracy. We demonstrate a view-planning system that incorporates our estimation method in the selection of good candidate views for the range acquisition of indoor environments. © 2007 IEEE.|
|Source Title:||3DIM 2007 - Proceedings 6th International Conference on 3-D Digital Imaging and Modeling|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Nov 29, 2017
checked on Dec 9, 2017
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.