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KSS-ICP: Point Cloud Registration Based on Kendall Shape Space.

Chenlei Lv, Weisi Lin, Baoquan Zhao

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    |April 7, 2023
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    Summary
    This summary is machine-generated.

    We introduce KSS-ICP, a novel method for rigid point cloud registration. This approach achieves accurate and robust registration by utilizing the Kendall shape space (KSS) and Iterative Closest Point (ICP) algorithm.

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    Area of Science:

    • Computer Vision
    • Computational Geometry
    • 3D Data Processing

    Background:

    • Point cloud registration is crucial for 3D reconstruction, localization, and retrieval.
    • Existing methods often struggle with variations in scale, rotation, and translation.
    • The Kendall shape space (KSS) offers invariance to similarity transformations, ideal for shape analysis.

    Purpose of the Study:

    • To propose KSS-ICP, a novel and practical rigid point cloud registration method.
    • To leverage the properties of KSS for robust and accurate registration.
    • To provide a solution that avoids complex feature analysis, training, and optimization.

    Main Methods:

    • Developed KSS-ICP, integrating Iterative Closest Point (ICP) within the Kendall shape space (KSS).
    • Formulated a practical approach to achieve KSS representation without extensive feature engineering.
    • Implemented a simplified method for point cloud registration invariant to similarity transformations.

    Main Results:

    • KSS-ICP demonstrates accurate registration performance on point clouds.
    • The method exhibits robustness against similarity transformations, noise, non-uniform density, and missing data.
    • Experimental results indicate superior performance compared to current state-of-the-art registration techniques.

    Conclusions:

    • KSS-ICP offers a practical and effective solution for rigid point cloud registration.
    • The method's invariance to similarity transformations enhances its reliability in diverse conditions.
    • Publicly released code and executables facilitate further research and application.