WSICP: Weighted Scaled Iterative Closest Point Algorithm for Point Set Registration

Rotation, anisotropic scaling, translation, outliers and noise are common problems in point set registration. In order to solve the point set registration under the above conditions, a robust weighted scaled iterative nearest point (WSICP) algorithm is proposed in this paper. Based on the Euclidean distance between point pairs, a weighted strategy of point pairwise is designed to reduce the influence of outliers and noise points on the solution of transformation matrix. Next, the brief and clear registration transform matrices of rotation, scale and translation are given. Experiments result show that our algorithm performs better than others on registration accuracy and convergence quality under scale stretching, outliers and noise case.