This paper proposes a novel and robust approach to the point set registration problem in the presence of large amounts of noise and outliers. Each of the point sets is represented by a mixture of Gaussians and the point set registration is treated as a problem of aligning the two mixtures. We derive a closed-form expression for the L/sub 2/distance between two Gaussian mixtures, which in turn leads to a computationally efficient registration algorithm. This new algorithm has an intuitive interpretation, is simple to implement and exhibits inherent statistical robustness. Experimental results indicate that our algorithm achieves very good performance in terms of both robustness and accuracy.
A robust algorithm for point set registration using mixture of Gaussians
Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1 ; 2 ; 1246-1251 Vol. 2
2005-01-01
370432 byte
Conference paper
Electronic Resource
English
A Robust Algorithm for Point Set Registration Using Mixture of Gaussians
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