ICP Acceleration: Delaunay Walk for Fast Nearest Neighbor Matching
Point set registration algorithms such as Iterative Closest Point (ICP) are commonly utilized in time-constrained environments like robotics. Finding the nearest neighbor of a point in a reference point set is a common operation in ICP and frequently consumes at least 90% of the computation time. We introduce a novel approach to performing the distance-based nearest neighbor step based on Delaunay triangulation. An algorithmic analysis and comparison is conducted showing an order of magnitude speedup for both serial and vector processor implementation.
PA Approved 88ABW-2021-0439
Background music from https://www.bensound.com/royalty-free...