Limei Hu

GRICP: Granular-Ball Iterative Closest Point with Multikernel Correntropy for Point Cloud Fine Registration

The Iterative Closest Point (ICP) algorithm suffers from sensitivity to outliers and tendency to local optima in point cloud fine registration. In this paper, we introduce a global and robust ICP framework called Granular-Ball Iterative Closest Point with MultiKernel Correntropy (GRICP). This approa…