Research on Two-Stage Variable Scale Three-Dimensional Point Cloud Registration Algorithm

Sheng Lu; Jungang Han; Lianzhe Wang; Haipeng Tang; Quan Qi; Ningyu Feng; Shaojie Tang

doi:10.3788/LOP57.201503

Journals >Laser & Optoelectronics Progress >Volume 57 >Issue 20 >Page 201503 > Article

Laser & Optoelectronics Progress
Vol. 57, Issue 20, 201503 (2020)

Research on Two-Stage Variable Scale Three-Dimensional Point Cloud Registration Algorithm

Sheng Lu¹, Jungang Han¹, Lianzhe Wang¹, Haipeng Tang², Quan Qi³, Ningyu Feng⁴, and Shaojie Tang^5、*

Author Affiliations

¹School of Computer Science & Technology, Xi'an University of Posts & Telecommunications, Xi'an, Shaanxi 710121, China;

²School of Computing Sciences and Computer Engineering, University of Southern Mississippi, MS 39406, USA

³College of Information Science and Technology, Shihezi University, Shihezi, Xinjiang 832000, China

⁴Otolaryngological Wards, General Hospital of Ningxia Medical University, Yinchuan, Ningxia 750004, China

⁵School of Automation, Xi'an University of Posts & Telecommunications, Xi'an, Shaanxi 710121, China;

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DOI: 10.3788/LOP57.201503 Cite this Article Set citation alerts

Sheng Lu, Jungang Han, Lianzhe Wang, Haipeng Tang, Quan Qi, Ningyu Feng, Shaojie Tang. Research on Two-Stage Variable Scale Three-Dimensional Point Cloud Registration Algorithm[J]. Laser & Optoelectronics Progress, 2020, 57(20): 201503 Copy Citation Text

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Fig. 1. Flow chart of proposed algorithm

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Registration result when geometric parameter is at the lattice point. (a) Original point cloud; (b) ICP algorithm; (c) SICP algorithm; (d) first stage registration+ICP algorithm; (e) proposed algorithm

Fig. 2. Registration result when geometric parameter is at the lattice point. (a) Original point cloud; (b) ICP algorithm; (c) SICP algorithm; (d) first stage registration+ICP algorithm; (e) proposed algorithm

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Fig. 3. Registration result when geometric parameter is not at the lattice point. (a) Original point cloud; (b) ICP algorithm; (c) SICP algorithm; (d) first stage registration+ICP algorithm; (e) proposed algorithm

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Fig. 4. Butterfly model data collection. (a) Butterfly model in kind; (b) butterfly point cloud data

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Fig. 5. Registration result when geometric parameter is at the lattice point. (a) Original point cloud; (b) ICP algorithm; (c) SICP algorithm; (d) first stage registration+ICP algorithm; (e) proposed algorithm

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Fig. 6. Registration result when geometric parameter is not at the lattice point. (a) Original point cloud; (b) ICP algorithm; (c) SICP algorithm; (d) first stage registration+ICP algorithm; (e) proposed algorithm

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Algorithm	Position of geometricparameter	Registrationerror /mm	Relative scaleerror /%
ICP algorithm^[1]	On lattice	0.00392
	Not on lattice	0.00403
SICP algorithm^[16]	On lattice	1.43612	0.1
	Not on lattice	1.89557	0.1
First stage registration+ICP algorithm	On lattice	8.4361×10^-6	8.1
	Not on lattice	4.5778×10^-5	8.7
Proposed algorithm	On lattice	5.3226×10^-30	0
	Not on lattice	9.5239×10^-11	0

Table 1. Registration error and relative scale error of Bunny point cloud data

Algorithm	Position of geometricparameter	Registrationerror /mm	Relative scaleerror /%
ICP algorithm^[1]	On lattice	308.2834
	Not on lattice	453.6902
SICP algorithm^[16]	On lattice	4.8101×10⁵	0.1
	Not on lattice	4.8316×10⁵	0.1
First stage registration+ICP algorithm	On lattice	1.3248	9.3
	Not on lattice	2.9844	9.6
Proposed algorithm	On lattice	2.7156×10^-5	0
	Not on lattice	3.1674×10^-4	0

Table 2. Registration error and relative scale error of butterfly point cloud

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