Go-ICP: Solving 3D Registration Efficiently and Globally Optimally
作者： Jiaolong Yang , Hongdong Li , Yunde Jia , None
关键词: Maxima and minima 、 Iterative method 、 Iterative closest point 、 Robustness (computer science) 、 Mathematics 、 Mathematical optimization 、 Image registration 、 Error function 、 Outlier 、 Initialization
摘要: Registration is a fundamental task in computer vision. The Iterative Closest Point (ICP) algorithm is one of the widely-used methods for solving the registration problem. Based on local iteration, ICP is however well-known to suffer from local minima. Its performance critically relies on the quality of initialization, and only local optimality is guaranteed. This paper provides the very first globally optimal solution to Euclidean registration of two 3D pointsets or two 3D surfaces under the L 2 error. Our method is built upon ICP, but combines …
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