input : Two pointclouds: \(A=\left\{a_{i}\right\}, B=\left\{b_{i}\right\}\)
An initial transformation: \(T_{0}\)
output: The correct transformation, \(T\), which aligns \(A\)
and \(B\)
\(T \leftarrow T_{0} ;\)
while not converged do
for \(i \leftarrow 1\) to \(N\) do
\(m_{i} \leftarrow\) FindClosestPoint \(\operatorname{InA}\left(T \cdot b_{i}\right)\);
if \(\left\|m_{i}-T \cdot b_{i}\right\| \leq d_{\max }\) then
\(w_{i} \leftarrow 1\)
else
\(w_{i} \leftarrow 0 ;\)
end
end
\(T \leftarrow \underset{T}{\operatorname{argmin}}\left\{\sum_{i} w_{i}\left\|T \cdot b_{i}-m_{i}\right\|^{2}\right\} ;\)
end
[1] P. Besl, N. McKay."A Method for Registration of 3-D Shapes," IEEE Trans. on Pattern Analysis and Machine Intel.,vol.14,no.2,pp.239-256,1992.
[2] P. Biber、S. Fleck、W. Strasser。"A Probabilistic Framework for Robust and Accurate Matching of Point Clouds," Pattern Recognition, Lecture Notes in Computer Science, vol. 3175/2004, pp.
[3] N. Gelfan、L. Ikemoto、S. Rusinkiewicz、M. Levoy。"Geometrically Stable Sampling for the ICP Algorithm," Fourth International Conference on 3-D Digital Imaging and Modeling, p. 260, 2003.
[4] D. Haehnel, W. Burgard."用于 3D 扫描注册的概率匹配》,2002 年 VDI-Conference Robotik 会议论文集。
[5] Z. Zhang."自由曲面注册的迭代点匹配》,IRA Rapports de Recherche,计划 4:机器人、图像和视觉,第 1658 期,1992 年。
[6] D. Hahnel、W. Burgard、S. Thrun。"用移动机器人学习室内外环境的紧凑 3D 模型》,《机器人与自主系统》,第 44 卷,第 15-27 页,2003 年。
[7] Y. Chen, G. Medioni."1992 IEEE 机器人与自动化国际会议论文集》,第 2724-2729 页,1991 年。
[8] L. Montesano、J. Minguez、L. Montano。"Probabilistic Scan Matching for Motion Estimation in Unstructured Environments," IEEE Intl.Intelligent Robots and Systems, pp.
[9] A. Fitzgibbon."三维和三维点集的稳健注册》,《图像与视觉计算》,第 21 卷,第 13-14 期,第 1145-1153 页,2003 年。
[10] B. Horn."使用单位四元数的绝对方位闭式解法》,《美国光学学会期刊 A》,第 4 卷,第 页 .
[11] S. Rusinkiewicz, M. Levoy."Efficient Variants of the ICP Algorithm," Third International Conference on 3-D Digital Imaging and Modeling, p. .
[12] G. Dalley, P. Flynn."Pair-Wise Range Image Registration:A Study in Outlier Classification," Computer Vision and Image Understanding, vol. 87, pp.
[13] S. Kim , Y. Hwang , H. Hong , M. Choi."An Improved ICP Algorithm Based on the Sensor Projection for Automatic 3D Registration," Lecture Notes in Computer Science, vol. 2972/2004 pp.642-651, 2004.
[14] J.-S.Gutmann, C. Schlegel, "AMOS: Compare of scan matching approaches for self-localization in indoor environments," eurobot, p.61, 1st Euromicro Workshop on Advanced Mobile Robots (EUROBOT), 1996.
[15] F. Lu, E. Milos."通过匹配二维范围扫描在未知环境中估算机器人姿态》,《智能机器人系统杂志》第 18 期:pp.
[16] J. Minguez, F. Lamiraux, L. Montesano."Metric-Based Scan Matching Algorithms for Mobile Robot Displacement Estimation," Robotics and Automation, Proceedings of the 2005 IEEE International Conference on, pp. .
[17] A. Censi,"概率框架中的扫描匹配",《机器人与自动化》,2006 年电气和电子工程师学会国际会议论文集,第 2291-2296 页,2006 年。
[18] K. Pulli,"Mutliview Registration for Large Data Sets",3-D Digital Imaging and Modeling,1999.Proceedings.第二届国际会议,第 160-168 页,1999 年。