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Robust ICP Registration Using Biunique Correspondence

In this paper, a novel variant of the ICP algorithm is proposed for registration of partially overlapping range images. Biunique correspondence is introduced to enhance the performance of ICP by searching multiple closest points. A new kind of outlier is defined, called No-Correspondence (NC) Outlier, which is the point that is not assigned to a biunique correspondence. In order to maintain efficiency, a coarse-to-fine approach is adopted. Experiments show that the proposed algorithm can find the correct rigid transformation with the existence of large non-overlapping area and poor initial alignment. The proposed algorithm is also applied to SLAM with the use of odometry information.