WJET  Vol.3 No.3 C , October 2015
An Improved Iterative Closest Points Algorithm
Abstract: Visual method including binocular stereo vision method and monocular vision method of the relative position and pose measurement for space target has become relatively mature, and many researchers focus on the method based on three-dimension measurement recently. ICP alignment, which is the key of three-dimension pattern measurement method, has the problem of low efficiency in large data sets. Considering this problem, an improved ICP algorithm is proposed in this paper. The improved ICP algorithm is the combination of the original ICP algorithm and KD-TREE. The experimental comparison between the improved ICP algorithm and the traditional ICP algorithm in efficiency has been given in this paper, which shows that the improved ICP algorithm can get much better performance.
Cite this paper: Yang, H. , Jiang, J. , Zhao, G. and Zhao, J. (2015) An Improved Iterative Closest Points Algorithm. World Journal of Engineering and Technology, 3, 302-308. doi: 10.4236/wjet.2015.33C045.

[1]   Kawano, I., Mokuno, M., Kasai, T. and Suzuki, T. (2001) Result of Autonomous Rendezvous Docking Experiment of Engineering Test Satellite-VII. Journal of Spacecraft and Rockets, 38, 105-111.

[2]   Mokuno, M. and Kawano, I. (1994) Engineering Test Satellite VII Rendezous Docking Optical Sensor System. AIAA 3698, 1314-1322.

[3]   Zhang, G.P., Zhang, Y.L. and Guo, Z. (2006) 3D Face Registration Based on ICP and Accurate Analysis of the Spindle. Computer Engineering and Application, 42, 62-64.

[4]   Chen, Y. and Medioni, G. (1991) Object modeling by Registration of Multiple Range Images. Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, 9-11 April 1991, 2724-2729.

[5]   Li, Q. and Griffiths, J.G. (2000) Iterative Closest Geometric Objects Registration. Computer and Mathematic with Application, 40, 1171-1188.

[6]   Bentley, J.L. (1975) Multi Dimensional Binary Search Trees Used Associative Searching. Communication of the ACM, 18, 509-517.

[7]   Dai, J.L., Chen, Z.Y. and Ye, X.Z. (2007) Application of ICP Algorithm in Point Cloud Registration ICP. Journal of Image and Graphics, 12, 517-521.