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Go-ICP: A Globally Optimal Solution to 3D ICP Point-Set Registration (1605.03344v1)

Published 11 May 2016 in cs.CV

Abstract: The Iterative Closest Point (ICP) algorithm is one of the most widely used methods for point-set registration. However, being based on local iterative optimization, ICP is known to be susceptible to local minima. Its performance critically relies on the quality of the initialization and only local optimality is guaranteed. This paper presents the first globally optimal algorithm, named Go-ICP, for Euclidean (rigid) registration of two 3D point-sets under the L2 error metric defined in ICP. The Go-ICP method is based on a branch-and-bound (BnB) scheme that searches the entire 3D motion space SE(3). By exploiting the special structure of SE(3) geometry, we derive novel upper and lower bounds for the registration error function. Local ICP is integrated into the BnB scheme, which speeds up the new method while guaranteeing global optimality. We also discuss extensions, addressing the issue of outlier robustness. The evaluation demonstrates that the proposed method is able to produce reliable registration results regardless of the initialization. Go-ICP can be applied in scenarios where an optimal solution is desirable or where a good initialization is not always available.

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Authors (4)
  1. Jiaolong Yang (47 papers)
  2. Hongdong Li (172 papers)
  3. Dylan Campbell (44 papers)
  4. Yunde Jia (38 papers)
Citations (883)

Summary

  • The paper presents a novel Branch-and-Bound strategy that guarantees global optimality in 3D point-set registration under the L2 error metric.
  • It embeds local ICP within a global search of the SE(3) motion space to avoid local minima and refine transformation estimates.
  • Experimental results on synthetic and real-world data demonstrate robust performance in camera localization, object recognition, and noise resilience.

An Essay on "Go-ICP: A Globally Optimal Solution to 3D ICP Point-Set Registration"

"Go-ICP: A Globally Optimal Solution to 3D ICP Point-Set Registration" by Jiaolong Yang, Hongdong Li, Dylan Campbell, and Yunde Jia, addresses the notorious limitation of the Iterative Closest Point (ICP) algorithm in point-set registration—its susceptibility to local minima. ICP's reliance on local iterative optimization necessitates an effective initialization, often proving infeasible in practice. The Go-ICP algorithm introduces the first globally optimal approach to solve this 3D Euclidean registration problem.

Core Contributions

The primary contribution of this work is the introduction of a Branch-and-Bound (BnB) scheme that guarantees global optimality for ICP under the L2L_2 error metric. This is achieved through a novel exploration of the entire 3D motion space SE(3)SE(3), leveraging the special structure of SE(3)SE(3) geometry to derive efficient error bounds, thus facilitating robust and precise point-set registration.

Methodological Insights

Go-ICP embeds local ICP within its global BnB process. By doing so, it benefits from the rapid convergence properties of local ICP while avoiding entrapment in local minima, thanks to the global BnB scheme. The algorithm's architecture can be outlined as:

  1. Initial Setup: The algorithm commences by partitioning the 3D motion space into progressively smaller cubes.
  2. BnB Search:
    • An outer BnB searches the rotation space, and for each partition, an inner BnB searches the translation space.
  3. ICP Integration: Whenever a potentially better solution is identified, a local ICP is executed, refining the transformation estimate and updating the upper bound.

Computational Feasibility

The algorithm's efficiency is enhanced by the Derivation of uncertainty radii and bounds on the registration error. The rotation space is parameterized using the angle-axis representation, transforming the problem into a solid radius-π\pi ball in R3\mathbb{R}^3. This innovative parameterization, combined with the octree data structure for domain subdivision, underscores the scalability and efficiency of Go-ICP.

Experimental Results

Experimental validation is rigorous, featuring tests on synthetic data, real-world datasets, and various practical scenarios such as camera localization and object recognition. The results demonstrate that Go-ICP consistently achieves the global minimum, validating the theoretical claims. Specifically, the algorithm successfully registers partially overlapping point sets and handles significant noise levels, showcasing its robustness.

The introduction of the Distance Transform (DT) for efficient closest-point distance computation and handling practical considerations such as noise and partial overlaps through trimming strategies further solidify the utility of Go-ICP in real-world applications.

Implications and Future Directions

This research presents a significant advancement in the field of point-set registration, providing a robust solution that does not rely on initial alignment guesses. Practically, it enables applications in 3D model reconstruction, robotic navigation, and multi-sensor fusion, where reliable point-set registration is indispensable.

In future developments, one could explore the extension of Go-ICP to other robust norms and ICP variants, as well as its integration into real-time systems where accuracy is critical despite computational constraints. The methodology could be further exploited to understand and handle self-similarity in shapes, enhancing its applicability in pattern recognition and computer graphics.

Conclusion

The Go-ICP algorithm illustrates a pivotal advancement in 3D point-set registration by ensuring global optimality. By marrying local ICP refinements with a global BnB framework, it navigates the limitations posed by local minima and initialization dependencies traditionally associated with ICP. The theoretical rigor, combined with empirical validation, underscores its potential for widespread adoption in robotics, computer vision, and beyond.