Yi Chen, Yong Wang, Jinlong Li, Dengzhi Liu, Xiaorong Gao, Yu Zhang. An Efficient Point Cloud Registration Algorithm Based on Principal Component Analysis[J]. Laser & Optoelectronics Progress, 2023, 60(14): 1428008
- Laser & Optoelectronics Progress
- Vol. 60, Issue 14, 1428008 (2023)
Fig. 1. Stanford dataset. (a) bunny model; (b) armadillo model; (c) bunny registration initial pose; (d) armadillo registration initial pose
Fig. 2. Registration of bunny. (a) SAC-IA algorithm; (b) 4PCS algorithm; (c) PCA algorithm; (d) improved PCA algorithm
Fig. 3. Registration of armadillo. (a) SAC-IA algorithm; (b) 4PCS algorithm; (c) PCA algorithm; (d) improved PCA algorithm
Fig. 4. Train components. (a) Standard rail model; (b) bolt point cloud after denoising; (c) brake cylinder; (d) gearbox
Fig. 5. Registration results of proposed algorithm for train components. (a)-(d) Initial positions of point clouds of each component; (e)-(h) coarse registration results by improved PCA algorithm
Fig. 6. Registration of rail model by 4PCS algorithm. (a) 4PCS coarse registration results; (b) ICP fine registration results
Fig. 7. Point cloud data of sand-spreading pipe. (a) Point cloud data of sand pipe after discrete points removed; (b) initial pose
Fig. 8. Point cloud registration effect of sand-spreading pipe. (a)-(d) Coarse registration results of SAC-IA, 4PCS, PCA, and improved PCA respectively; (e)-(h) results of Fig.8 (a)-(d) by ICP fine registration
Fig. 9. Point cloud data of brake cylinder. (a) Brake cylinder 1; (b) two point clouds collected from perspective 1; (c) brake cylinder 2; (d) two point clouds collected from perspective 2
Fig. 10. Registration of two point clouds from perspective of brake cylinder 1. (a)-(d) coarse registration results of SAC-IA, 4PCS, PCA, and improved PCA respectively
Fig. 11. Registration of two point clouds from perspective of brake cylinder 2. (a)-(d) coarse registration results of SAC-IA, 4PCS, PCA, and improved PCA respectively
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Table 1. Experimental indicators of bunny registration
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Table 2. Experimental indicators of armadillo registration
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Table 3. Experimental indicators of train components registration
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Table 4. Comparison of registration time of train components
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Table 5. Experimental indicators of sand-spreading pipe registration
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Table 6. Coarse registration time of brake cylinder
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