This paper proposes probabilityiterativeclosestpoint(ICP) method based on expectation maximization(EM)estimation for point set registration with *** classical ICP algorithm can deal with rigid registration between ...
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This paper proposes probabilityiterativeclosestpoint(ICP) method based on expectation maximization(EM)estimation for point set registration with *** classical ICP algorithm can deal with rigid registration between two point sets effectively,but always fails to register point sets with *** order to improve the registration precision,a Gaussian model is introduced into the rigid *** each iteration,the classical ICP algorithm includes two steps,building the corresponding relationship and computing the rigid *** to the traditional ICP,at each step,firstly the corresponding relationship is set ***,the rigid transformation is solved by singular value decomposition(SVD) method,and then the Gaussian model is updated by the distance and variance between two point *** experimental results on part B of CE-Shape-1 database and real position dataset validate that the proposed algorithm is more accurate.
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