Lei Geng, Chunpeng Cao, Zhitao Xiao, Fang Zhang. Multiview Point Cloud Registration Method Based on Laser Radar[J]. Laser & Optoelectronics Progress, 2022, 59(12): 1228004
- Laser & Optoelectronics Progress
- Vol. 59, Issue 12, 1228004 (2022)
Fig. 1. Point cloud collection
Fig. 2. Single frame point cloud data
Fig. 3. Schematic diagram of radius filtering
Fig. 4. Pre-processing effect diagram
Fig. 5. Two adjacent point clouds
Fig. 6. Block diagram of proposed method
Fig. 7. Registration renderings. (a) Pfh-ICP; (b) Fpfh-ICP; (c) Super-4PCS; (d) NDT-ICP; (e) IMU-ICP
Fig. 8. Registration effect of markers in truck
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Table 1. IMU Quaternion
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Table 2. Data preprocessing results
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Table 3. Average rotation error of each method
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Table 4. Average translation error of each method
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Table 5. Sum of squared distances between original ICP algorithm and improved ICP algorithm
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Table 6. Point cloud continuous registration completion time
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