TITLE:
An Improved Iterative Closest Points Algorithm
AUTHORS:
Hao Yang, Jialan Jiang, Guowei Zhao, Jie Zhao
KEYWORDS:
The Relative Position and Pose Measurement of Space Target, ICP Algorithm, KD-TREE
JOURNAL NAME:
World Journal of Engineering and Technology,
Vol.3 No.3C,
October
23,
2015
ABSTRACT: Visual method including binocular stereo
vision method and monocular vision method of the relative position and pose
measurement for space target has become relatively mature, and many researchers
focus on the method based on three-dimension measurement recently. ICP
alignment, which is the key of three-dimension pattern measurement method, has
the problem of low efficiency in large data sets. Considering this problem, an
improved ICP algorithm is proposed in this paper. The improved ICP algorithm is
the combination of the original ICP algorithm and KD-TREE. The experimental
comparison between the improved ICP algorithm and the traditional ICP algorithm
in efficiency has been given in this paper, which shows that the improved ICP
algorithm can get much better performance.