Efficient scaling registration algorithm for partially overlapping point sets

An efficient iterative closest point (ICP) variant is proposed for solving the scaling registration of partially overlapping point sets. By adopting the backward distance measurement and the overlapping rate, the aforementioned registration problem can be formulated as a least squares function, which can be solved in the iterative manner, inspired by the ICP algorithm. During each iteration, the inverse correspondences are set up to compute the overlapping percentage, scale and rigid transformation simultaneously between two m-D point sets. The experimental results clearly demonstrate its superior performances over previous approaches.