An Improvement of Affine Iterative Closest Point Algorithm for Partial Registration

In this paper, partial registration problem with outliers and missing data in the affine case is discussed. To solve this problem, a novel objective function is proposed based on bidirectional distance and trimmed strategy. Firstly, when bidirectional distance measurement applied, the ill-posed partial registration problem in the affine case is prevented. Secondly, the overlapping percentage is solved by using trimmed strategy which uses as many correct overlapping points as possible. Our method can compute the affine transformation, correspondence and overlapping percentage automatically at each iterative step. In this way, it can handle partially overlapping registration with outliers and missing data in the affine case well. Experimental results demonstrate that our method is more robust and precise than the state-of-the-art algorithms.