MantisBT - VTK
View Issue Details
IDProjectCategoryView StatusDate SubmittedLast Update
0008983VTK(No Category)public2009-05-07 18:132016-08-12 09:55
ReporterDavid Doria 
Assigned ToKitware Robot 
PrioritynormalSeverityfeatureReproducibilityN/A
StatusclosedResolutionmoved 
PlatformOSOS Version
Product Version 
Target VersionFixed in Version 
Project
Type
Summary0008983: ICP should have a "too far way" threshold
DescriptionThe current implementation of ICP requires ALL of the source points to match to the target. This is ok if one set is a strict subset of the other, because you can simply match the subset to the entire set. However, if the polydata which contains the subset also has many other points, the transform gets pulled to the center of the entire dataset rather than staying near the original location. The idea is that some points are "too far" to be considered in the transform at all, so they do not affect the cost function. This is always a problem when matching a model to a LIDAR scan.
Steps To Reproduce
Additional Information
TagsNo tags attached.
Relationships
Attached Filescxx vtkIterativeClosestPointTransform.cxx (14,459) 2010-02-22 16:38
https://www.vtk.org/Bug/file/7889/vtkIterativeClosestPointTransform.cxx
? vtkIterativeClosestPointTransform.h (7,018) 2010-02-22 16:38
https://www.vtk.org/Bug/file/7890/vtkIterativeClosestPointTransform.h
Issue History
Date ModifiedUsernameFieldChange
2009-05-07 18:13David DoriaNew Issue
2009-06-19 11:05David DoriaNote Added: 0016742
2010-02-22 16:38David DoriaFile Added: vtkIterativeClosestPointTransform.cxx
2010-02-22 16:38David DoriaFile Added: vtkIterativeClosestPointTransform.h
2011-06-16 13:11Zack GalbreathCategory => (No Category)
2016-08-12 09:55Kitware RobotNote Added: 0037074
2016-08-12 09:55Kitware RobotStatusexpired => closed
2016-08-12 09:55Kitware RobotResolutionopen => moved
2016-08-12 09:55Kitware RobotAssigned To => Kitware Robot

Notes
(0016742)
David Doria   
2009-06-19 11:05   
Even better, an M-Estimator can be used to decide which points to disregard during each iteration.
(0037074)
Kitware Robot   
2016-08-12 09:55   
Resolving issue as `moved`.

This issue tracker is no longer used. Further discussion of this issue may take place in the current VTK Issues page linked in the banner at the top of this page.