[ITK] [ITK-users] general info ICP implementation

[Matt McCormick]

Hello,

ITK uses the Levenberg-Marquardt non-linear least squares optimizer in
the ICP examples.  This has an advantage of the closed formula updates
in that it can work with an arbitrary transform.  But, a different
type of ICP using closed form updates could possibly be created by
utilizing the LandmarkBasedTransformInitializer class [1], which
provides correspondences for a number of transforms.

HTH,
Matt

[1] http://www.itk.org/Doxygen/html/classitk_1_1LandmarkBasedTransformInitializer.html

On Mon, Aug 10, 2015 at 10:32 AM, D'Isidoro  Fabio <fisidoro at ethz.ch> wrote:
> I am trying to figure out how ICP is implemented in ITK. The general
> approach consists in iterating two steps: first compute the correspondences
> and then find the best transform with the current correspondences by using a
> close formula.
>
>
>
> However in the ITK implementation I can’t see this approach, plus
> LevenbergMarquardt alrgorithm is used instead of close formula to determine
> the transform. I know a special version of LevenbergMarquardt-ICP algorithm
> has been proposed in the following paper, however I can’t see how the ITK
> implementation follows this proposed method (the ITK implementation seems to
> me very generic like any other optimization problem). Where should I look
> for?
>
>
>
> Paper: “Robust registration of 2D and 3D point sets” Fitzgibbon 2003.
>
>
>
> Thank you very much.
>
> Fabio
>
>
>
>
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