Comparisons of Iterative Closest Point Algorithms

With the huge advancement in shape scanning and acquisition technology, 3D shape matching becomes one of hotspots in machine vision. This paper introduces the classical ICP together with Sparse ICP, EM-ICP and ICNP algorithms, which respectively refined ICP with weighted factor, closest normal vector as well as sparsity inducing norms, discusses their improvements and insufficient, and gives the direction of future research.