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10 November 2022 Process analysis and effectiveness evaluation of iterative closest point algorithm
Longsheng Cai, Jinguo Zhang
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Proceedings Volume 12331, International Conference on Mechanisms and Robotics (ICMAR 2022); 1233150 (2022) https://doi.org/10.1117/12.2652696
Event: International Conference on Mechanisms and Robotics (ICMAR 2022), 2022, Zhuhai, China
Abstract
This paper describes the iterative process and the selection strategies of parameters for the iterative closest point algorithm in details, obtains the rigid transform between the consecutive two point clouds and at the same time shows the changing of rigid transform among the iterative process. According to the perturbation analysis, this paper also provides a covariance estimation and changing tend of the rigid transform. As a result, these indicators of rigid transform indeed reflect the effectiveness of the mentioned iterative closest point algorithm.
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Longsheng Cai and Jinguo Zhang "Process analysis and effectiveness evaluation of iterative closest point algorithm", Proc. SPIE 12331, International Conference on Mechanisms and Robotics (ICMAR 2022), 1233150 (10 November 2022); https://doi.org/10.1117/12.2652696
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KEYWORDS
Clouds
Laser scanners
Error analysis
Mobile robots
Optimization (mathematics)
Reconstruction algorithms
Statistical analysis
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