AA-ICP: Iterative Closest Point with Anderson Acceleration

Understand

Iterative Closest Point (ICP) is a widely used method for performing scan-matching and registration.

• Being simple and robust method, it is still computationally expensive and may be challenging to use in real-time applications with limited resources on mobile platforms.
• In this paper we propose novel effective method for acceleration of ICP which does not require substantial modifications to the existing code.
• This method is based on an idea of Anderson acceleration which is an iterative procedure for finding a fixed point of contractive mapping.