Research Article
Assessment of Iterative Closest Point Registration Accuracy for Different Phantom Surfaces Captured by an Optical 3D Sensor in Radiotherapy
Table 3
Overall assessment of the tested ICP algorithms.
| Property | Algorithm | Wilm | Kroon | Renoald | Bergström | AlignRT |
| Closest point search | kd-tree | Full | Full | Full | |
| Weighting | None | None | None | Distance-based | |
| Rejection | None | None | None | None | |
| Error metric | Point-to-plane | Point-to-point | Point-to-point | Point-to-point | Point-to-plane |
| Minimization | Linearization of rotation matrix | Global search | SVD | Levenberg-Marquardt | |
| Speedb | + | − | ++ | − − | + |
| Max. | <1.0 mm | >1.0 mm | >1.0 mm | >1.0 mm | <1.0 mm | Max. | >0.5° | <0.5° | <0.5° | <0.5° | >0.5° |
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aUnknown. b++: very fast; +: fast; −: slow; − −: very slow.
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