We describe RICP, a robust algorithm for registering and finding correspondences in sets of 3-D points with significant percentages of missing data, and therefore useful for both motion analysis and reverse engineering. RICP exploits LMedS robust estimation to withstand the effect of outliers. Our extensive experimental comparison of RICP with ICP shows RICP's superior robustness and reliability. © 1999 Elsevier Science B.V.
|Number of pages||10|
|Journal||Pattern Recognition Letters|
|Publication status||Published - 20 Sep 1999|
- CAD-based vision
- Motion estimation
- Reverse engineering