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Accelerated point set registration method

Author

Listed:
  • Ryan M Raettig
  • James D Anderson
  • Scott L Nykl
  • Laurence D Merkle

Abstract

In computer vision and robotics, point set registration is a fundamental issue used to estimate the relative position and orientation (pose) of an object in an environment. In a rapidly changing scene, this method must be executed frequently and in a timely manner, or the pose estimation becomes outdated. The point registration method is a computational bottleneck of a vision-processing pipeline. For this reason, this paper focuses on speeding up a widely used point registration method, the iterative closest point (ICP) algorithm. In addition, the ICP algorithm is transformed into a massively parallel algorithm and mapped onto a vector processor to realize a speedup of approximately an order of magnitude. Finally, we provide algorithmic and run-time analysis.

Suggested Citation

  • Ryan M Raettig & James D Anderson & Scott L Nykl & Laurence D Merkle, 2024. "Accelerated point set registration method," The Journal of Defense Modeling and Simulation, , vol. 21(4), pages 421-440, October.
    • Handle: RePEc:sae:joudef:v:21:y:2024:i:4:p:421-440
    DOI: 10.1177/15485129221150454
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