The Trimmed Iterative Closest Point algorithm

By Dmitry Chetverikov, Dmitry Svirko, Dmitry Stepanov, Pavel Krsek. Object recognition supported by user interaction for service robots, 2002

721 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Computer Vision and Pattern Recognition

View Paper: https://www.semanticscholar.org/paper/27a1f159d59d91ef744868687dfb2aec46e436ae

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In Aerospace Engineering

In Computer Vision and Pattern Recognition

Citations in the corpus

Comparing ICP variants on real-world data sets (2013, positive): “We wish to revisit two of the textbook ICP variants, using point-to-point (Besl and McKay 1992) and point-to-plane (Chen and Medioni 1991) distance metrics, both combined with the trimmed-ICP outlier rejection (Chetverikov et al. 2002).”
Tracking a depth camera: Parameter exploration for fast ICP (2011, methodology): “Additionally, we fixed the error minimization solution as being the point-to-plane error [2], and the outlier filter being the median distance [13] for all experiments.”
Voxelized GICP for Fast and Accurate 3D Point Cloud Registration (2020, methodology): “There are many variants of the classic ICP algorithm, such as Trimmed ICP [5] and Normal ICP [6].”
Go-ICP: Solving 3D Registration Efficiently and Globally Optimally (2013, methodology): “In this test, we use ICP with trimming [11] and the same trimming strategy in BnB to handle outliers.”
Static and dynamic 3D facial expression recognition: A comprehensive survey (2012, background): “Many variants of ICP have also been proposed, and the interested reader may refer to the following [70–72].”
Fingerprint-Based Fuzzy Vault: Implementation and Performance (2007, methodology): “We have implemented a fully automatic and practical fuzzy vault system based on fingerprint minutiae that can easily secure secrets such as 128-b AES encryption keys.”
GDRNPP: A Geometry-Guided and Fully Learning-Based Object Pose Estimator (2021, positive): “As for depth-based methods, the Iterative Closest Point (ICP) algorithm [72] and its variants [73], [74], [75], [76], [77] stand out as the predominant traditional pose reﬁnement algorithms.”
An ICP variant using a point-to-line metric (2008, methodology): “Use a trimming procedure [9] to eliminate outliers.”