Robust affine registration method using line/surface normals and correntropy criterion

Yılmaz A., Temeltaş H.

COMPLEX & INTELLIGENT SYSTEMS, vol.8, pp.1-19, 2022 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 8
  • Publication Date: 2022
  • Doi Number: 10.1007/s40747-021-00599-0
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED)
  • Page Numbers: pp.1-19
  • Keywords: Linear registration, Affine iterative closest point, Correntropy, 2D and 3D point clouds, CLOSEST POINT ALGORITHM, 3D RECONSTRUCTION, ICP
  • Istanbul Technical University Affiliated: Yes


The problem of matching point clouds is an efficient way of registration, which is significant for many research fields including computer vision, machine learning, and robotics. There may be linear or non-linear transformation between point clouds, but determining the affine relation is more challenging among linear cases. Various methods have been presented to overcome this problem in the literature and one of them is the affine variant of the iterative closest point (ICP) algorithm. However, traditional affine ICP variants are highly sensitive to effects such as noises, deformations, and outliers; the least-square metric is substituted with the correntropy criterion to increase the robustness of ICPs to such effects. Correntropy-based robust affine ICPs available in the literature use point-to-point metric to estimate transformation between point clouds. Conversely, in this study, a line/surface normal that examines point-to-curve or point-to-plane distances is employed together with the correntropy criterion for affine point cloud registration problems. First, the maximum correntropy criterion measure is built for line/surface normal conditions. Then, the closed-form solution that maximizes the similarity between point sets is achieved for 2D registration and extended for 3D registration. Finally, the application procedure of the developed robust affine ICP method is given and its registration performance is examined through extensive experiments on 2D and 3D point sets. The results achieved highlight that our method can align point clouds more robustly and precisely than the state-of-the-art methods in the literature, while the registration time of the process remains at reasonable levels.