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《Periodical of Ocean University of China》 2010-01
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A Survey on the ICP Algorithm and Its Variants in Registration of 3D Point Clouds

XIE Ze-Xiao,XU Shang(College of Engineering,Ocean University of China,Qingdao 266100,China)  
The ICP algorithm has become the dominant method in fine registration of 3D point clouds.A comprehensive survey on the ICP algorithm and its variants is presented in the paper.The procedure of existing ICP and its variants is divided into four steps:(1) sampling the source points,(2) establishing the original correspondences,(3) removing the unreliable correspondences,(4) estimating the transformation parameters.In each step,the basic ideas and key techniques of various typical methods are classified and analyzed,and their advantages and shortcomings are studied and compared with respect to accuracy and efficiency.Finally,some open issues and relevant solutions are presented,and some discussion on the future prospects are provided.
【Fund】: 国家自然科学基金项目(60772057);; 青岛市科技计划基础研究项目(09-1-3-43-jch)资助
【CateGory Index】: TP391.41
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