Go-ICP swMATH ID: 14979 Software Authors: Jiaolong Yang, Hongdong Li, Dylan Campbell, Yunde Jia Description: Go-ICP: A Globally Optimal Solution to 3D ICP Point-Set Registration. The Iterative Closest Point (ICP) algorithm is one of the most widely used methods for point-set registration. However, being based on local iterative optimization, ICP is known to be susceptible to local minima. Its performance critically relies on the quality of the initialization and only local optimality is guaranteed. This paper presents the first globally optimal algorithm, named Go-ICP, for Euclidean (rigid) registration of two 3D point-sets under the L2 error metric defined in ICP. The Go-ICP method is based on a branch-and-bound (BnB) scheme that searches the entire 3D motion space SE(3). By exploiting the special structure of SE(3) geometry, we derive novel upper and lower bounds for the registration error function. Local ICP is integrated into the BnB scheme, which speeds up the new method while guaranteeing global optimality. We also discuss extensions, addressing the issue of outlier robustness. The evaluation demonstrates that the proposed method is able to produce reliable registration results regardless of the initialization. Go-ICP can be applied in scenarios where an optimal solution is desirable or where a good initialization is not always available. Homepage: http://iitlab.bit.edu.cn/mcislab/~yangjiaolong/go-icp/ Related Software: 3DMatch; SIFT; TEASER++; USAC; D2-Net; GMS; ContextDesc; ASLFeat; SuperGlue; FusionGAN; YFCC100M; Quicksilver; ApolloScape; PASCAL VOC; PPFNet; ORB-SLAM2; TILDE; SuperPoint; LF-Net; MatchNet Referenced in: 8 Publications all top 5 Referenced by 29 Authors 1 Ahmed, Mirza Tahir 1 Andreadis, Anthousis 1 Bernardes Vieira, Marcelo 1 de Almeida, Liliane Rodrigues 1 Demonceaux, Cédric 1 Egeland, Olav 1 Evangelidis, Georgios D. 1 Fan, Aoxiang 1 Giraldi, Gilson Antonio 1 Greenspan, Michael 1 Habed, Adlane 1 Hu, Lan 1 Jiang, Junjun 1 Jiang, Xingyu 1 Jiang, Zutao 1 Kleppe, Adam Leon 1 Kneip, Laurent 1 Li, Zhongyu 1 Ma, Jiayi 1 Marshall, Joshua A. 1 Mavridis, Pavlos 1 Miranda, Gastão Florêncio jun. 1 Pang, Shanmin 1 Paudel, Danda Pani 1 Vasseur, Pascal 1 Yan, Junchi 1 Zhang, Changqing 1 Zhu, Jihua 1 Ziauddin, Sheikh Referenced in 5 Serials 3 Journal of Mathematical Imaging and Vision 2 International Journal of Computer Vision 1 Information Sciences 1 Computer Aided Geometric Design 1 Advances in Applied Clifford Algebras all top 5 Referenced in 7 Fields 8 Computer science (68-XX) 3 Information and communication theory, circuits (94-XX) 1 Linear and multilinear algebra; matrix theory (15-XX) 1 Differential geometry (53-XX) 1 Statistics (62-XX) 1 Numerical analysis (65-XX) 1 Operations research, mathematical programming (90-XX) Referencing Publications by Year