A Symmetric Objective Function for ICP
ACM Transactions on Graphics (Proc. SIGGRAPH), July 2019
Abstract
The Iterative Closest Point (ICP) algorithm, commonly used for alignment
of 3D models, has previously been defined using either a point-to-point or
point-to-plane objective. Alternatively, researchers have proposed
computationally-expensive methods that directly minimize the distance
function between surfaces. We introduce a new symmetrized objective
function that achieves the simplicity and computational efficiency of
point-to-plane optimization, while yielding improved convergence speed and
a wider convergence basin. In addition, we present a linearization of
the objective that is exact in the case of exact correspondences. We
experimentally demonstrate the improved speed and convergence basin of
the symmetric objective, on both smooth models and challenging cases
involving noise and partial overlap.
Paper
- Original Paper (author's version)
- Supplemental Material containing an additional result
Code
- The method described in the paper is implemented in version 2.15 of trimesh2
- Code/data for convergence and robustness tests: icptests-1.0.zip
Talk
- SIGGRAPH 2019 PPTX presentation
Citation
Szymon Rusinkiewicz.
"A Symmetric Objective Function for ICP."
ACM Transactions on Graphics (Proc. SIGGRAPH) 38(4), Article 85, July 2019.
BibTeX
@article{Rusinkiewicz:2019:ASO, author = "Szymon Rusinkiewicz", title = "A Symmetric Objective Function for {ICP}", journal = "ACM Transactions on Graphics (Proc. SIGGRAPH)", year = "2019", month = jul, volume = "38", number = "4", articleno = "85" }