Error sensitivity of rotation angles in the ICP algorithm

Byung Uk Lee, Chul Min Kim, Rae Hong Park

Research output: Contribution to journalConference articlepeer-review

8 Scopus citations


The accuracy of the iterative closest point (ICP) algorithm, which is widely employed in image registration, depends on the complexity of the shape of the object under registration. Objects with complex features yield higher reliability in estimating registration parameters. For objects with rotation symmetry, a cylinder for example, rotation along the center axis can not be distinguished. We derive the sensitivity of the rotation error of the ICP algorithm from the curvature of the error function near the minimum error position. We approximate the defined error function to a second-order polynomial and show that the coefficient of the second-order term is related to the reliability of the estimated rotation angle. Also the coefficient is related to the shape of the object. In the known correspondence case, the reliability can be expressed by the second moment of the input image. Finally, we apply the sensitivity formula to a simple synthetic object and ellipses, and verify that the predicted orientation variance of the ICP algorithm is in good agreement with computer simulations.

Original languageEnglish
Pages (from-to)146-156
Number of pages11
JournalProceedings of SPIE - The International Society for Optical Engineering
StatePublished - 1999
EventProceedings of the 1999 Three-Dimensional Image Capture and Applications II - San Jose, CA, USA
Duration: 25 Jan 199926 Jan 1999


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