Pair-wise Registration of 3D/Color Data Sets with ICP

The ICP (iterative closest point) algorithm remains a very popular method for the registration of 3D data sets, when an initial guess of the relative pose between them is known. The purpose of the work presented in this paper is to improve performance of classical ICP. We address, here, the problem of pair-wise registration of color range images. Many variants of ICP have been proposed for the registration of 3D data sets. However, there are only a few solutions dealing with color range images. In this paper, we have adapted some variants of ICP to take into account color information in the closest point research. Two approaches of color data integration have been evaluated with real 3D/color data sets