Scale-Adaptive ICP

Date

2021-07-01

Author

Sahillioğlu, Yusuf
Kavan, Ladislav

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We present a new scale-adaptive ICP (Iterative Closest Point) method which aligns two objects that differ by rigid transformations (translations and rotations) and uniform scaling. The motivation is that input data may come in different scales (measurement units) which may not be known a priori, or when two range scans of the same object are obtained by different scanners. Classical ICP and its many variants do not handle this scale difference problem adequately. Our novel solution outperforms three different methods that estimate scale prior to alignment and a fourth method that, similar to ours, jointly optimizes for scale during the alignment.

Subject Keywords

Pairwise registration, Shape registration, Shape alignment, Scale-adaptive

URI

https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108860331&origin=inward
https://hdl.handle.net/11511/91255

Journal

Graphical Models

DOI

https://doi.org/10.1016/j.gmod.2021.101113

Collections

Department of Computer Engineering, Article

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Citation Formats

Y. Sahillioğlu and L. Kavan, “Scale-Adaptive ICP,” Graphical Models, pp. 0–0, 2021, Accessed: 00, 2021. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108860331&origin=inward.