Accuracy Evaluation of Registration of 3D Normal Distributions Transforms Interpolated by Overlapped Regular Cells

摘要

The discontinuity of normal distributions transform (NDT) is caused by the discreteness of regular cells. To overcome the problem, the interpolation method using overlapped regular cells has been proposed and applied to point-to-distribution NDT registration (NDT-P2D). Although the method improves the accuracy of the registration, the accuracy and runtime against the overlap rate has not been analyzed yet. Also, the performance of the state-of-the-art distribution-to-distribution NDT registration (NDT-D2D) using the method has not been evaluated. In this paper, we evaluate the accuracy of NDT-D2D against overlap rate determined by the orthogonal interval of cells and the length of the cell. In experiments, we evaluated the accuracy and runtime against the interval and length respectively.