Publica
Hier finden Sie wissenschaftliche Publikationen aus den FraunhoferInstituten. Rapid analytic optimization of quadratic ICP algorithms
 Chen, ChuSong (Ed.): Computer vision  ACCV 2016 Workshops. Pt.3 : ACCV 2016 international workshops, Taipei, Taiwan, November 2024, 2016; Revised selected papers Cham: Springer International Publishing, 2017 (Lecture Notes in Computer Science 10118) ISBN: 9783319545257 (Print) ISBN: 9783319545264 (Online) pp.6175 
 Asian Conference on Computer Vision (ACCV) <13, 2016, Taipei> Workshop on Mathematical and Computational Methods in Biomedical Imaging and Image Analysis <2016, Taipei> 

 English 
 Conference Paper 
 Fraunhofer IOSB () 
Abstract
This paper discusses the efficient optimization of iterative closest points (ICP) algorithms. While many algorithms formulate the optimization problem in terms of quadratic error functionals, the discontinuities introduced by varying changing correspondences usually motivate the optimization by quasiNewton or GaussNewton methods. These disregard the fact that the Hessian matrix in these cases is constant, and can thus be precomputed analytically and inverted apriori. We demonstrate on the example of Allen et al.’s seminal paper “The space of human body shapes”, that all relevant quantities for a full Newton method can be derived easily, and lead to an optimization process that reduces computation time by around 98% while achieving results of almost equal quality (about 1% difference). Along the way, the paper proposes minor improvements to the original problem formulation by Allen et al., aimed at making the results more reproducible.