Point Cloud Registration Method Based on Improved Grey Wolf Algorithm and Adaptive Splitting KD-Tree

Authors

Yuanhao Du, Business School, University of Shanghai for Science and Technology, Shanghai 200093, China
Xiuli Geng, Business School, University of Shanghai for Science and Technology, Shanghai 200093, China; School of Intelligent Emergency Management, University of Shanghai for Science and Technology, Shanghai 200093, China
Chengzhi Xu, School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
Yinhua Liu, School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China

Abstract

Abstract: Traditional GWO algorithms suffer from limitations such as insufficient search efficiency and susceptibility to local optima. A novel method for the registration of point clouds of complex industrial components is proposed based on an improved GWO algorithm and ICP. To address the problem of uneven population distribution caused by random initialization in GWO, chaotic mapping is employed to initialize the gray wolf population, ensuring a more uniform distribution of individuals within the search space. A non-linear control parameter strategy is introduced to strike a balance between the algorithm's local search and global search capabilities. Elite reverse learning is integrated to improve the quality of the algorithm's solutions. The refined registration is achieved using the ICP algorithm. An adaptive dimension splitting method is developed. This method dynamically selects the splitting dimensions to enhance the quality of the point cloud data. The experiments show that the RMSE of IGWO increases by 80.31%, 73.99% and 47.7% on average compared with the other three comparison algorithms.

Recommended Citation

Du, Yuanhao; Geng, Xiuli; Xu, Chengzhi; and Liu, Yinhua (2025) "Point Cloud Registration Method Based on Improved Grey Wolf Algorithm and Adaptive Splitting KD-Tree," Journal of System Simulation: Vol. 37: Iss. 2, Article 10.
DOI: 10.16182/j.issn1004731x.joss.23-1190
Available at: https://dc-china-simulation.researchcommons.org/journal/vol37/iss2/10

First Page

424

Last Page

435

CLC

TP18; TP391.41

Recommended Citation

Du Yuanhao, Geng Xiuli, Xu Chengzhi, et al. Point Cloud Registration Method Based on Improved Grey Wolf Algorithm and Adaptive Splitting KD-Tree[J]. Journal of System Simulation, 2025, 37(2): 424-435.

Corresponding Author

Geng Xiuli

DOI

10.16182/j.issn1004731x.joss.23-1190