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IJCV
2006

Geometry and Convergence Analysis of Algorithms for Registration of 3D Shapes

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Geometry and Convergence Analysis of Algorithms for Registration of 3D Shapes
The computation of a rigid body transformation which optimally aligns a set of measurement points with a surface and related registration problems are studied from the viewpoint of geometry and optimization. We provide a convergence analysis for widely used registration algorithms such as ICP, using either closest points (Besl and McKay [2]) or tangent planes at closest points (Chen and Medioni [4]), and for a recently developed approach based on quadratic approximants of the squared distance function [24]. ICP based on closest points exhibits local linear convergence only. Its counterpart which minimizes squared distances to the tangent planes at closest points is a Gauss-Newton iteration; it achieves local quadratic convergence for a zero residual problem and
Helmut Pottmann, Qi-Xing Huang, Yong-Liang Yang, S
Added 12 Dec 2010
Updated 12 Dec 2010
Type Journal
Year 2006
Where IJCV
Authors Helmut Pottmann, Qi-Xing Huang, Yong-Liang Yang, Shi-Min Hu
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