An Approach to Robust ICP Initialization

Alexander Kolpakov, Michael Werman

Research output: Contribution to journalArticlepeer-review


In this note, we propose an approach to initialize the Iterative Closest Point (ICP) algorithm to match unlabelled point clouds related by rigid transformations. The method is based on matching the ellipsoids defined by the points' covariance matrices and then testing the various principal half-axes matchings that differ by elements of a finite reflection group. We derive bounds on the robustness of our approach to noise and numerical experiments confirm our theoretical findings.

Original languageAmerican English
Pages (from-to)12685-12691
Number of pages7
JournalIEEE Transactions on Pattern Analysis and Machine Intelligence
Issue number10
StatePublished - 1 Oct 2023


  • ICP
  • image registration
  • image stitching

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Applied Mathematics
  • Computer Vision and Pattern Recognition
  • Computational Theory and Mathematics


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