Variable Scale Point Cloud Registration Algorithm

Authors

Shuifa Sun, 1. China Three Gorges University Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering, Yichang 443002, China;;2. Nanjing Normal University Jiangsu Key Laboratory of 3D Printing Equipment and Manufacturing, Nanjing 210042, China;
Zhun Li, 1. China Three Gorges University Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering, Yichang 443002, China;;
Kun Xia, 1. China Three Gorges University Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering, Yichang 443002, China;;
Yunfei Shi, 1. China Three Gorges University Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering, Yichang 443002, China;;
Jiquan Yang, 2. Nanjing Normal University Jiangsu Key Laboratory of 3D Printing Equipment and Manufacturing, Nanjing 210042, China;
Fangmin Dong, 1. China Three Gorges University Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering, Yichang 443002, China;;

Abstract

Abstract: To address the low registration accuracy issue caused by scale mismatch of two point clouds, a multi-scale point cloud registration algorithm is proposed based on the distance ratio invariance of the geometric center of gravity and centroid. The point cloud is firstly filtered. Then, the scale ratio calculation model of the point cloud data is established by computing the point cloud’s gravity center and centroid. Finally, according to the relationship between the registration error and the scale true value, the scale factor is refined step by step with ICP algorithm. For the noise and the inconsistent point in the point cloud, comparative tests are carried out. The experimental results show that, in the absence of noise, the magnitude of registration error order is 10^-12~10^-15; in the case with noise, the magnitude of registration error order is 10^-4.

Recommended Citation

Sun, Shuifa; Li, Zhun; Xia, Kun; Shi, Yunfei; Yang, Jiquan; and Dong, Fangmin (2019) "Variable Scale Point Cloud Registration Algorithm," Journal of System Simulation: Vol. 30: Iss. 7, Article 5.
DOI: 10.16182/j.issn1004731x.joss.201807005
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss7/5

First Page

2465

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201807005

Last Page

2474

CLC

TP391.41

Recommended Citation

Sun Shuifa, Li Zhun, Xia Kun, Shi Yunfei, Yang Jiquan, Dong Fangmin. Variable Scale Point Cloud Registration Algorithm[J]. Journal of System Simulation, 2018, 30(7): 2465-2474.

Corresponding Author

Fangmin Dong,

DOI

10.16182/j.issn1004731x.joss.201807005