A performance evaluation method to compare the multi-view point cloud data registration based on ICP algorithm and reference marker

Registration of range images of surfaces is a fundamental problem in three-dimensional modelling. This process is performed by finding a rotation matrix and translation vector between two sets of data points requiring registration. Many techniques have been developed to solve the registration problem. Therefore, it is important to understand the accuracy of various registration techniques when we decide which technique will be selected to perform registration task. This paper presents a new approach to test and compare registration techniques in terms of accuracy. Among various registration methods, iterative closest point-based algorithms and reference marker methods are two types of commonly applied methods which are used to accomplish this task because they are easy to implement and relatively low cost. These two methods have been selected to perform a comprehensively quantitative evaluation by using the proposed method and the registration results are verified using the calibrated NPL freeform standard.