Efficient Combinations of Rejection Strategies for Dense Point Clouds Registration
The Iterative Closest Point (ICP) algorithm has been viewed as a standard approach to registering two point clouds. In the process of point clouds registration, the eliminating incorrect point pairs has important effect on the accuracy and stability of registration. In the past two decades, numerous strategies of excluding point pairs have been developed and various combinations of them have been applied to the variants of ICP algorithm. In this paper, an efficient combination of rejection strategies is proposed. It also is compared with other heuristic combinations. As shown in our case studies, the proposed combination can realize more accurate registration without sacrificing computational efficiency.