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Iterative closest geometric objects registration

Li, QD; Li, Qingde; Griffiths, J. G.



J. G. Griffiths


In this paper, closed-form solutions are obtained for registering two sets of line segments, triangle patches, or even general simple geometric objects that are defined by a set of ordered points. Based on these new registration approaches, the iterative closest line segment registration (ICL) algorithm and the iterative closest triangle patch registration (ICT) algorithm are developed similar to the ICP algorithm. To simplify the mathematical representation, the concept of matrix scalar product is defined and some of its properties are given. The newly developed registration methods are tested. The test shows that the ICL algorithm and the ICT algorithm work much better than the conventional ICP algorithm considering that the ICL and the ICT algorithms are much less sensitive to the initial orientations of the object.

Journal Article Type Article
Publication Date 2000-11
Print ISSN 0898-1221
Publisher Elsevier
Peer Reviewed Peer Reviewed
Volume 40
Issue 10-11
Pages 1171-1188
APA6 Citation Li, Q., & Griffiths, J. G. (2000). Iterative closest geometric objects registration. Computers & mathematics with applications, 40(10-11), (1171-1188). doi:10.1016/s0898-1221(00)00230-3. ISSN 0898-1221
Keywords Rotation estimation; Matrix scalar product; Iterative line segment registration
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