摘要
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This paper presents an algorithm for registering multiple range images, which is efficient and robust in the presence of noise and occlusion. The registration algorithm is an integration of the iterative closest point(ICP) algorithm with random sampling and least squares(LS) estimator. It iterates the processes of random sampling with conditional reject, estimation of motion parameters by using ICP algorithm and evaluation of the estimation. The algorithm first creates an octree spline of object surface to quickly compute point to surface distance and its closest point using trilinear interpolation. The advantages of the proposed method are the reduction of computational cost and robustness to outliers.
