Improved ICP algorithm with bounded rotation angle for 2D point set registration

This paper presents a more robust iterative closest point (ICP) approach for 2D point set registration. An inequality constraint of the rotation angle is introduced into the least square registration model which is solved by an extended ICP algorithm. At each iterative step of the algorithm, a closed-form solution for the rotation is obtained according to the monotonicity of the model with respect to the rotation angle. The proposed approach extends the convergence domain of the ICP algorithm, and it can be used much more widely. A series of 2D point set experiments on part B of MPEG-7 CE-shape-1 dataset prove that the proposed method is much more robust than ICP without increasing the computational complexity.