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<p><b>Abstract</b>—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.</p>
ICP algorithm, 3D registration, range data, volumetric modeling, pose estimation.
Byung-Uk Lee, Rae-Hong Park, Chul-Min Kim, "An Orientation Reliability Matrix for the Iterative Closest Point Algorithm", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 22, no. , pp. 1205-1208, October 2000, doi:10.1109/34.879805
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