Scientific journal

ISSN 1814-2400

INFORMATION SCIENCE AND CONTROL SYSTEMS

Bobkov V. A., Kudriashov A. P., Protsenko I. K.

MODIFIED ICP ALGORITHM FOR UNMATCHED 3D CLOUDS

A modified ICP algorithm for independently generated 3D clouds based on implicit matching of points is proposed. The assessment of algorithm efficiency in comparison with analogues was obtained in experiments with virtual scenes. Computational experiments with a simulator for autonomous underwater robots were carried out.

Keywords: 3D clouds, ICP algorithm, stereo camera, features matching, local geometric transformation matrix, triangulation surface