Optimal Step Nonrigid ICP
Matlab implementation of non-rigid iterative closest point
You are now following this Submission
- You will see updates in your followed content feed
- You may receive emails, depending on your communication preferences
Optimal Step Nonrigid ICP is a MATLAB implementation of a non-rigid variant of the iterative closest point algorithm. It can be used to register 3D surfaces. The method is described in the following paper:
'Optimal Step Nonrigid ICP Algorithms for Surface Registration', Amberg, Romandhani and Vetter, CVPR, 2007.
Features:
* Non-rigid and local deformations of a template surface or point cloud.
* Iterative stiffness reduction allows for global intitial transformations that become increasingly localised.
* Optional initial rigid registration using standard iterative closest point.
* Optional bi-directional distance metric which encourages surface deformations to cover more of the target surface.
* Handles missing data in the target surface by ignoring correspondences with points on target edges.
https://github.com/charlienash/nricp
Cite As
Charlie Nash (2026). Optimal Step Nonrigid ICP (https://github.com/charlienash/nricp), GitHub. Retrieved .
Acknowledgements
Inspired by: Toolbox Graph, geom3d, Iterative Closest Point
General Information
- Version 1.2.0.0 (424 KB)
-
View License on GitHub
MATLAB Release Compatibility
- Compatible with any release
Platform Compatibility
- Windows
- macOS
- Linux
Versions that use the GitHub default branch cannot be downloaded
| Version | Published | Release Notes | Action |
|---|---|---|---|
| 1.2.0.0 | Bug fix in nricp.m |
||
| 1.1.0.0 | Now handles missing target surface data by ignoring correspondences to points lying on edge of target. Added option to reject correspondences where surface normals are not close. Added demo for missing data. |
||
| 1.0.0.0 | Name change. Minor formatting changes.
|
