Improved ICP control algorithm in robot surgery application

摘要

The iterative closest point (ICP) algorithm has been widely used for the registration of geometric data and wide field of activities that range from 3D object modeling to object recognition. However, the main practical difficulty of the ICP algorithm is to require complicated computation steps. This paper proposes an improved solution to overcome that problem. The proposed algorithm focuses on how to select the best sample points so as to reduce computation time while still retain accuracy. The obtained simulation results show that it is highly potential to apply for medical robot surgery applications.