An ICP variant using a point-to-line metric

This paper describes PLICP, an ICP (iterative closest/corresponding point) variant that uses a point-to-line metric, and an exact closed-form for minimizing such metric. The resulting algorithm has some interesting properties: it converges quadratically, and in a finite number of steps. The method i...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 19 - 25
Main Author Censi, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Convergence
ICP
IDC
Iterative algorithms
Iterative closest point algorithm
Iterative methods
localization
MbICP
metric
Nonlinear control systems
point-to-line
Robotics and automation
Robots
Robustness
Scan matching
Surface fitting
USA Councils
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Summary:This paper describes PLICP, an ICP (iterative closest/corresponding point) variant that uses a point-to-line metric, and an exact closed-form for minimizing such metric. The resulting algorithm has some interesting properties: it converges quadratically, and in a finite number of steps. The method is validated against vanilla ICP, IDC (iterative dual correspondences), and MBICP (Metric-Based ICP) by reproducing the experiments performed in Minguez et al. (2006). The experiments suggest that PLICP is more precise, and requires less iterations. However, it is less robust to very large initial displacement errors. The last part of the paper is devoted to purely algorithmic optimization of the correspondence search; this allows for a significant speed-up of the computation. The source code is available for download.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543181