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This monograph addresses the problem of geometric registration and
the classical Iterative Closest Point (ICP) algorithm. Though
commonly used in several research fields, the focus here is on
mobile robotics in which point clouds need to be registered. Even
with this narrowed focus, the problem is still complex and
multiple-faceted. A lot has been published on the topic, and, up
until now, it has lacked a general comparison methodology. This is
understandable given the diversity of applications, characteristics
of the sensors, motion capabilities of the robotic platform and
characteristics of the environments, but it hinders the selection
process of an appropriate instance of the algorithm. This review
tackles this challenge by three means: (1) a wide literature review
with a historical perspective, (2) the elaboration of a theoretical
descriptive framework of geometric registration grounded in the
literature review, and (3) the analysis of practical use cases
covering a wide diversity of mobile robotics applications. The end
result provides the reader with a set of guidelines for the choice
of geometric registration configuration.
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