Robust affine iterative closest point algorithm based on correntropy for 2D point set registration

Zongze Wu, Hongchen Chen, Shaoyi Du

Abstract: The traditional affine iterative closest point (ICP) algorithm is fast and accuracy for affine registration of point sets, but it performs worse when the point sets with large outliers. This paper introduces a novel algorithm based on correntropy for affine registration of point sets with outliers. First, a novel objective function is proposed by introducing the maximum correntropy criterion (MCC) because of the outlier-rejection property of correntropy. Then, a new affine ICP algorithm is proposed to solve this energy function. This method uses a simple iterative algorithm and computes the affine transformation quickly at each iterative step. Similar to the ICP algorithm, this new algorithm converges monotonically to a local maximum for any given initial parameters. Experimental results demonstrate that our algorithm has the high speed and accuracy for affine registration with outliers compared with the traditional ICP algorithm and the state-of-the-art algorithms.