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access icon free Improvement of affine iterative closest point algorithm for partial registration

© The Institution of Engineering and Technology
Received 21/03/2016, Accepted 26/09/2016, Revised 06/09/2016, Published 30/09/2016

In this study, partial registration problem with outliers and missing data in the affine case is discussed. To solve this problem, a novel objective function is proposed based on bidirectional distance and trimmed strategy, and then a new affine trimmed iterative closest point algorithm is given. First, when bidirectional distance measurement is applied, the ill-posed partial registration problem in the affine case is prevented. Second, the overlapping percentage is solved by using trimmed strategy which uses as many correct overlapping points as possible. The authors’ method computes the affine transformation, correspondence and overlapping percentage automatically at each iterative step. In this way, it handles partially overlapping registration with outliers and missing data in the affine case well. Experimental results demonstrate that their method is more robust and precise than the state-of-the-art algorithms. It also has good convergence and similar running time with traditional algorithms.

Inspec keywords: iterative methods; affine transforms; distance measurement; image registration

Other keywords: missing data; affine transformation; ill-posed partial registration problem; objective function; trimmed strategy; affine trimmed iterative closest point algorithm; overlapping percentage; partially overlapping registration; outlier data; bidirectional distance strategy; bidirectional distance measurement

Subjects: Computer vision and image processing techniques; Interpolation and function approximation (numerical analysis); Interpolation and function approximation (numerical analysis); Optical, image and video signal processing; Integral transforms in numerical analysis; Integral transforms in numerical analysis

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