Robust RGB-D Data Registration Based on Correntropy and Bi-directional Distance

The iterative closest point (ICP) algorithm is most widely used for rigid registration of point sets. In this paper, a robust ICP registration method data is proposed to register RGB-D data. Firstly, the color information is introduced to build more precise correspondence between two point sets. Secondly, to enhance the robustness of the algorithm to noise and outliers, the maximum correntropy criterion (MCC) is introduced to the registration framework. Thirdly, to reduce the possibility of the algorithm falling into local minimum and deal with ill-pose issue, the bidirectional distance measurement is added to the proposed algorithm. Finally, the experimental results of point sets registration and scene reconstruction demonstrate that the proposed algorithm can obtain more precise and robust results than other ICP algorithms.