Applied and Computational Engineering
- The Open Access Proceedings Series for Conferences
Proceedings of the 4th International Conference on Computing and Data Science (CONF-CDS 2022)
Series Vol. 2 , 22 March 2023
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ICP Algorithm: Theory, Practice and Its SLAM-oriented Taxonomy
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Abstract
The Iterative Closest Point (ICP) algorithm is one of the most important algorithms for ge-ometric alignment of three-dimensional surface registration, which is frequently used in computer vision tasks, including the Simultaneous Localization And Mapping (SLAM) tasks. In this paper, we illustrate the theoretical principles of the ICP algorithm, how it can be used in surface registration tasks, and the traditional taxonomy of the variants of the ICP algorithm. As SLAM is becoming a popular topic, we also introduce a SLAM-oriented taxonomy of the ICP algorithm, based on the characteristics of each type of SLAM task, including whether the SLAM task is online or not and whether the landmarks are present as features in the SLAM task. We make a synthesis of each type of SLAM task by compar-ing several up-to-date research papers and analyzing their implementation details.
Keywords
Iterative Closest Point Algorithm, Simultaneous Localization and Mapping, Surface Registration, Algorithm Taxonomy
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Data Availability
The datasets used and/or analyzed during the current study will be available from the authors upon reasonable request.
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- Volume Title
- Proceedings of the 4th International Conference on Computing and Data Science (CONF-CDS 2022)
- ISBN (Print)
- 978-1-915371-19-5
- ISBN (Online)
- 978-1-915371-20-1
- Published Date
- 22 March 2023
- Series
- Applied and Computational Engineering
- ISSN (Print)
- 2755-2721
- ISSN (Online)
- 2755-273X
- DOI
- 10.54254/2755-2721/2/20220512
- Copyright
- 22 March 2023
- Open Access
- This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited