Registration without ICP

Helmut Pottmann, Stefan Leopoldseder*, Michael Hofer

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

131 Scopus citations


We present a new approach to the geometric alignment of a point cloud to a surface and to related registration problems. The standard algorithm is the familiar ICP algorithm. Here, we provide an alternative concept which relies on instantaneous kinematics and on the geometry of the squared distance function of a surface. The proposed algorithm exhibits faster convergence than ICP; this is supported both by results of a local convergence analysis and by experiments.

Original languageEnglish (US)
Pages (from-to)54-71
Number of pages18
JournalComputer Vision and Image Understanding
Issue number1
StatePublished - Jul 2004
Externally publishedYes


  • Geometric optimization
  • Instantaneous kinematics
  • Registration
  • Squared distance function

ASJC Scopus subject areas

  • Software
  • Signal Processing
  • Computer Vision and Pattern Recognition


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