Error sensitivity of rotation angles in the ICP algorithm

Byung-Uk Lee; Chul-Min Kim; Rae-Hong Park

doi:10.1117/12.341056

8 March 1999 Error sensitivity of rotation angles in the ICP algorithm

Byung-Uk Lee, Chul-Min Kim, Rae-Hong Park

Proceedings Volume 3640, Three-Dimensional Image Capture and Applications II; (1999) https://doi.org/10.1117/12.341056
Event: Electronic Imaging '99, 1999, San Jose, CA, United States

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.

Citation Download Citation

Byung-Uk Lee, Chul-Min Kim, and Rae-Hong Park "Error sensitivity of rotation angles in the ICP algorithm", Proc. SPIE 3640, Three-Dimensional Image Capture and Applications II, (8 March 1999); https://doi.org/10.1117/12.341056

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