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An Orientation Reliability Matrix for the Iterative Closest Point Algorithm
October 2000 (vol. 22 no. 10)
pp. 1205-1208

Abstract—This paper proposes a matrix which represents the reliability of the rotation components of the iterative closest point (ICP) algorithm in range image registration. We show that the reliability of the ICP algorithm depends on the surface normal vectors of the object.

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Index Terms:
ICP algorithm, 3D registration, range data, volumetric modeling, pose estimation.
Citation:
Byung-Uk Lee, Chul-Min Kim, Rae-Hong Park, "An Orientation Reliability Matrix for the Iterative Closest Point Algorithm," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 22, no. 10, pp. 1205-1208, Oct. 2000, doi:10.1109/34.879805
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