Correntropy based scale ICP algorithm for robust point set registration

作者：

Highlights：

• Correntropy is introduced to the scale ICP algorithm, which could eliminate the influence of outliers and noise.

• The one-to-one correspondence is employed to improve speed.

• The closed-form solution is given during the transform estimation iteration, which greatly reduces the run-time.

• It is a general framework for m-dimensional registration, which is independent of shape representation and feature extraction.

摘要

•Correntropy is introduced to the scale ICP algorithm, which could eliminate the influence of outliers and noise.•The one-to-one correspondence is employed to improve speed.•The closed-form solution is given during the transform estimation iteration, which greatly reduces the run-time.•It is a general framework for m-dimensional registration, which is independent of shape representation and feature extraction.

论文关键词：Iterative closest point,Correntropy,Scale transformation,Point set registration,Outliers

论文评审过程：Received 16 February 2017, Revised 22 June 2017, Accepted 19 March 2019, Available online 30 March 2019, Version of Record 15 April 2019.

论文官网地址：https://doi.org/10.1016/j.patcog.2019.03.013