Abstract

The problem of robust registration of 3D point sets disturbed by noise for free-form surface inspection is considered. In this research, M-estimation methods are used to eliminate the effects of outliers, and a robust extension of tangent-squared distance minimization (TDM) using M-estimation is proposed. The proposed algorithm is compared with standard TDM method, iterative closest point (ICP) method and ICP with M-estimation in terms of robustness and convergence speed. The experiment results show that the algorithm exhibits faster convergence speed and better robustness against disturbed points.

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