Pre-adjustment of positions of point-clouds for the ICP algorithm using IMU and parallel projection

In this paper, we propose a preprocessing for the ICP algorithm to avoid convergence failures. Using a depth camera with the IMU, the movement of it can be measured. We use it for the pre-adjustment of two point-clouds as a preprocessing of the ICP. Our method consists of the following steps: (1) Measurement of the camera orientation from IMU, (2) Adjustment of the measured point-clouds using the camera orientation, (3) Parallel projection of the points onto one plane and 2D alignment, and (4) Depth alignment and overlapping of the projected models as the initial positions for the ICP. We also show several experimental results to indicate the effectiveness of our proposed methods.