基于鲁棒统计学方法的迭代最近点算法分析-analysis of iterative closest point algorithm based on robust statistics method.docx

ABSTRACTThe visual system is one of the key subsystems of the IC manufacturing equipment. Image matching is function module of core in visual system for IC manufacturing equipment. Iterative closest point algorithm is a matching method for point set, which has a wide range of applications because of its high registration accuracy in image registration. This article study how to improve the iterative closest point algorithm in two stages of the weight given to the point pairs and the elimination of specific point pairs.First, the article describes the basic principles of the iterative closest point algorithm and analyzes the characteristics and shortcomings of the iterative closest point algorithm. In the two stages of the weight given to the point pairs and the elimination of specific point pairs, the robust statistical methods can improve the robustness of the iterative closest point algorithm. The main purpose of Robust Estimation is that robust estimation is able to make a good estimate when there are outliers in the observational data. The paper introduces three classic iterative closest point algorithms that incorporated the robust statistics methods, i.e., M-ICP algorithm, the RICP algorithm and TrICP algorithm.Another method of LTS is combined with the iterative closest point algorithm is proposed, which utilizes residuals distribution characteristic to get the number of pairs of the specific point selected in each iteration and calculation of the scaling parameter is joined. Experimental results show that the new algorithm for point set matching is feasible and effective in the presence of noise.Keywords: The iterative closest point algorithmRegistrationRobust statistic Outliers目录摘要 ...................................................................................................................................................IABSTRACT ...........................................................................................................................