{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,17]],"date-time":"2026-01-17T19:58:08Z","timestamp":1768679888654,"version":"3.49.0"},"reference-count":39,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2020,9,17]],"date-time":"2020-09-17T00:00:00Z","timestamp":1600300800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002628","name":"Incheon National University","doi-asserted-by":"publisher","award":["the Incheon National University Research Grant in 2020"],"award-info":[{"award-number":["the Incheon National University Research Grant in 2020"]}],"id":[{"id":"10.13039\/501100002628","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100014188","name":"Ministry of Science and ICT, South Korea","doi-asserted-by":"publisher","award":["GK20P0200"],"award-info":[{"award-number":["GK20P0200"]}],"id":[{"id":"10.13039\/501100014188","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>We present two algorithms for aligning two colored point clouds. The two algorithms are designed to minimize a probabilistic cost based on the color-supported soft matching of points in a point cloud to their K-closest points in the other point cloud. The first algorithm, like prior iterative closest point algorithms, refines the pose parameters to minimize the cost. Assuming that the point clouds are obtained from RGB-depth images, our second algorithm regards the measured depth values as variables and minimizes the cost to obtain refined depth values. Experiments with our synthetic dataset show that our pose refinement algorithm gives better results compared to the existing algorithms. Our depth refinement algorithm is shown to achieve more accurate alignments from the outputs of the pose refinement step. Our algorithms are applied to a real-world dataset, providing accurate and visually improved results.<\/jats:p>","DOI":"10.3390\/s20185331","type":"journal-article","created":{"date-parts":[[2020,9,18]],"date-time":"2020-09-18T07:27:33Z","timestamp":1600414053000},"page":"5331","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Iterative K-Closest Point Algorithms for Colored Point Cloud Registration"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9860-9145","authenticated-orcid":false,"given":"Ouk","family":"Choi","sequence":"first","affiliation":[{"name":"Department of Electronics Engineering, Incheon National University, Yeonsu-gu, Incheon 22012, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1752-150X","authenticated-orcid":false,"given":"Min-Gyu","family":"Park","sequence":"additional","affiliation":[{"name":"Korea Electronics Technology Institute, Seongnam-si, Gyeonggi 13488, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3400-0493","authenticated-orcid":false,"given":"Youngbae","family":"Hwang","sequence":"additional","affiliation":[{"name":"Department of Electronics Engineering, Chungbuk National Univerisity, Cheongju, Chungbuk 28644, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,9,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Newcombe, R.A., Izadi, S., Hilliges, O., Molyneaux, D., Kim, D., Davison, A.J., Kohi, P., Shotton, J., Hodges, S., and Fitzgibbon, A. (2011, January 26\u201329). KinectFusion: Real-time dense surface mapping and tracking. Proceedings of the IEEE International Symposium on Mixed and Augmented Reality, Basel, Switzerland.","DOI":"10.1109\/ISMAR.2011.6092378"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Whelan, T., Johannsson, H., Kaess, M., Leonard, J.J., and McDonald, J. (2013, January 6\u201310). Robust real-time visual odometry for dense RGB-D mapping. Proceedings of the International Conference on Robotics and Automation, Karlsruhe, Germany.","DOI":"10.1109\/ICRA.2013.6631400"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Yang, R.S., Chan, Y.H., Gong, R., Nguyen, M., Strozzi, A.G., Delmas, P., Gimel\u2019farb, G., and Ababou, R. (2013, January 27\u201329). Multi-Kinect scene reconstruction: Calibration and depth inconsistencies. Proceedings of the International Conference on Image and Vision Computing New Zealand, Wellington, New Zealand.","DOI":"10.1109\/IVCNZ.2013.6726991"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Li, W., Xiao, X., and Hahn, J. (2019, January 7\u201311). 3D reconstruction and texture optimization using a sparse set of RGB-D cameras. Proceedings of the IEEE Winter Conference on Applications of Computer Vision, Waikoloa Village, HI, USA.","DOI":"10.1109\/WACV.2019.00155"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1109\/34.121791","article-title":"A method for registration of 3-D shapes","volume":"14","author":"Besl","year":"1992","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1016\/0262-8856(92)90066-C","article-title":"Object modeling by registration of multiple range images","volume":"10","author":"Chen","year":"1992","journal-title":"Image Vis. Comput."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"119","DOI":"10.1007\/BF01427149","article-title":"Iterative point matching for registration of free-form curves and surfaces","volume":"13","author":"Zhang","year":"1994","journal-title":"Image Vis. Comput."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"135","DOI":"10.1016\/S0262-8856(98)00117-6","article-title":"Registration and integration of textured 3D data","volume":"17","author":"Johnson","year":"1999","journal-title":"Image Vis. Comput."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Men, H., Gebre, B., and Pochiraju, K. (2011, January 9\u201313). Color point cloud registration with 4D ICP algorithm. Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, China.","DOI":"10.1109\/ICRA.2011.5980407"},{"key":"ref_10","unstructured":"Korn, M., Holzkothen, M., and Pauli, J. (2014, January 5\u20138). Color supported generalized-ICP. Proceedings of the International Conference on Computer Vision Theory and Applications, Lisbon, Portugal."},{"key":"ref_11","unstructured":"Chui, H., and Rangarajan, A. (2000, January 12). A feature registration framework using mixture models. Proceedings of the IEEE Workshop on Mathematical Methods in Biomedical Image Analysis, Hilton Head Island, SC, USA."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Granger, S., and Pennec, X. (2002, January 28\u201331). Multi-scale EM-ICP: A fast and robust approach for surface registration. Proceedings of the European Conference on Computer Vision, Copenhagen, Denmark.","DOI":"10.1007\/3-540-47979-1_28"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Trinkle, J., Matsuoka, Y., and Castellanos, J.A. (2009). Generalized-ICP. Robotics: Science and Systems, The MIT Press.","DOI":"10.7551\/mitpress\/8727.001.0001"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Hansard, M., Lee, S., Choi, O., and Horaud, R.P. (2012). Time of Flight Cameras: Principles, Methods, and Applications, Springer. Springer Briefs in Computer Science.","DOI":"10.1007\/978-1-4471-4658-2"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Choi, O., and Kang, B. (2013, January 15\u201318). Denoising of Time-of-Flight depth data via iteratively reweighted least squares minimization. Proceedings of the IEEE International Conference on Image Processing, Melbourne, VIC, Australia.","DOI":"10.1109\/ICIP.2013.6738222"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"1731","DOI":"10.1109\/JSEN.2014.2309987","article-title":"Characterizations of noise in Kinect depth images: A review","volume":"14","author":"Mallick","year":"2014","journal-title":"IEEE Sens. J."},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Zhu, H., Su, H., Wang, P., Cao, X., and Yang, R. (2018, January 18\u201323). View extrapolation of human body from a single image. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, Salt Lake City, UT, USA.","DOI":"10.1109\/CVPR.2018.00468"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/1360612.1360684","article-title":"4-points congruent sets for robust surface registration","volume":"85","author":"Aiger","year":"2008","journal-title":"ACM Trans. Graphics"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"205","DOI":"10.1111\/cgf.12446","article-title":"Super 4PCS Fast global pointcloud registration via smart indexing","volume":"33","author":"Mellado","year":"2014","journal-title":"Comput. Graphics Forum"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"2241","DOI":"10.1109\/TPAMI.2015.2513405","article-title":"Go-ICP: A globally optimal solution to 3D ICP point-set registration","volume":"38","author":"Yang","year":"2016","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Zhou, Q.Y., Park, J., and Koltun, V. (2016, January 11\u201314). Fast global registration. Proceedings of the European Conference on Computer Vision, Amsterdam, The Netherlands.","DOI":"10.1007\/978-3-319-46475-6_47"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Hartley, R., and Zisserman, A. (2004). Multiple View Geometry in Computer Vision, Cambridge University Press. [2nd ed.].","DOI":"10.1017\/CBO9780511811685"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Rusu, R.B., Blodow, N., and Beetz, M. (2009, January 12\u201317). Fast Point Feature Histograms (FPFH) for 3D registration. Proceedings of the IEEE International Conference on Robotics and Automation, Kobe, Japan.","DOI":"10.1109\/ROBOT.2009.5152473"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Park, J., Zhou, Q., and Koltun, V. (2017, January 22\u201329). Colored point cloud registration revisited. Proceedings of the IEEE International Conference on Computer Vision, Venice, Italy.","DOI":"10.1109\/ICCV.2017.25"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"1145","DOI":"10.1016\/j.imavis.2003.09.004","article-title":"Robust registration of 2D and 3D point sets","volume":"21","author":"Fitzgibbon","year":"2003","journal-title":"Image Vis. Comput."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1111\/cgf.12178","article-title":"Sparse iterative closest point","volume":"32","author":"Bouaziz","year":"2013","journal-title":"Comput. Graphics Forum"},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Montesano, L., Minguez, J., and Montano, L. (2005, January 2\u20136). Probabilistic scan matching for motion estimation in unstructured environments. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Edmonton, AB, Canada.","DOI":"10.1109\/IROS.2005.1545182"},{"key":"ref_28","first-page":"105","article-title":"Analysis of approximate nearest neighbor searching with clustered point sets","volume":"Volume 59","author":"Goldwasser","year":"1999","journal-title":"Data Structures, Near Neighbor Searches, and Methodology: Fifth and Sixth DIMACS Implementation Challenges, Proceedings of the DIMACS Workshop, Piscataway, NJ, USA, 25\u201330 July 1999"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"1520","DOI":"10.1109\/TPAMI.2011.248","article-title":"Convergent iterative closest-point algorithm to accomodate anisotropic and inhomogenous localization error","volume":"34","author":"Franz","year":"2012","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"148","DOI":"10.1016\/j.media.2019.04.013","article-title":"The deformable most-likely-point paradigm","volume":"55","author":"Sinha","year":"2019","journal-title":"Med. Image Anal."},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Amberg, B., Romdhani, S., and Vetter, T. (2007, January 17\u201322). Optimal step nonrigid ICP algorithms for surface registration. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, Minneapolis, MN, USA.","DOI":"10.1109\/CVPR.2007.383165"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"2262","DOI":"10.1109\/TPAMI.2010.46","article-title":"Point set registration: Coherent point drift","volume":"32","author":"Myronenko","year":"2010","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"38","DOI":"10.1006\/cviu.1995.1004","article-title":"Active Shape Models-Their Training and Application","volume":"61","author":"Cootes","year":"1995","journal-title":"Comput. Vis. Image Underst."},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Kwon, Y.C., Jang, J.W., Hwang, Y., and Choi, O. (2019). Multi-cue-based circle detection and its application to robust extrinsic calibration of RGB-D cameras. Sensors, 19.","DOI":"10.3390\/s19071539"},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Billings, S.D., Boctor, E.M., and Taylor, R.H. (2015). Computation of a probabilistic statistical shape model in a maximum-a-posteriori framework. PLoS ONE, 10.","DOI":"10.1371\/journal.pone.0117688"},{"key":"ref_36","unstructured":"Sorkine, O., and Alexa, M. (2007, January 4\u20136). As-rigid-as-possible surface modeling. Proceedings of the EUROGRAPHICS\/ACM SIGGRAPH Symposium on Geometry Processing, Barcelona, Spain."},{"key":"ref_37","unstructured":"Choi, S., Zhou, Q., and Koltun, V. (2015, January 7\u201312). Robust reconstruction of indoor scenes. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, Boston, MA, USA."},{"key":"ref_38","unstructured":"Zhou, Q.Y., Park, J., and Koltun, V. (2018). Open3D: A Modern Library for 3D Data Processing. arXiv."},{"key":"ref_39","unstructured":"Bleyer, M., Rhemann, C., and Rother, C. (September, January 29). PatchMatch stereo - Stereo matching with slanted support windows. Proceedings of the British Machine Vision Conference, Dundee, UK."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/18\/5331\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T10:11:00Z","timestamp":1760177460000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/18\/5331"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,9,17]]},"references-count":39,"journal-issue":{"issue":"18","published-online":{"date-parts":[[2020,9]]}},"alternative-id":["s20185331"],"URL":"https:\/\/doi.org\/10.3390\/s20185331","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,9,17]]}}}