Aligning 3D points when there are large rotations and translations

Aligning 3D points when there are large rotations and translations

Registration of 3D Point Sets Using Correntropy Similarity Matrix
arXiv paper abstract https://arxiv.org/abs/2107.09725v1
arXiv PDF paper https://arxiv.org/pdf/2107.09725v1.pdf
GitHub https://github.com/aralab-unr/CoSM-ICP

… Registration or Alignment of 3D point sets

… suffers from misalignment when the Source and the Target point sets are separated by large rotations and translation.

… propose a variant of the Standard ICP algorithm, where we introduce a Correntropy Relationship Matrix in the computation of rotation and translation component

… This matrix is created through correntropy criterion which is updated in every iteration.

… our approach has performed well under various rotation and translation in comparison to the other well-known state of the art methods available in the Point Cloud Library (PCL) as well as other methods available as open source. …

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I apply innovative technologies like machine learning, computer vision, and physics to further an organization's goals. Am recognized innovator with 66 patents.