Point Cloud Registration Algorithm Based on Image Feature and Singular Value Decomposition

Fuqun Zhao; Guohua Geng

doi:10.3788/LOP57.101101

Journals >Laser & Optoelectronics Progress >Volume 57 >Issue 10 >Page 101101 > Article

Laser & Optoelectronics Progress
Vol. 57, Issue 10, 101101 (2020)

Point Cloud Registration Algorithm Based on Image Feature and Singular Value Decomposition

Fuqun Zhao^1、* and Guohua Geng²

Author Affiliations

¹School of Information, Xi'an University of Finance and Economics, Xi'an, Shaanxi 710100, China

²School of Information Science and Technology, Northwest University, Xi'an, Shaanxi 710127, China

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DOI: 10.3788/LOP57.101101 Cite this Article Set citation alerts

Fuqun Zhao, Guohua Geng. Point Cloud Registration Algorithm Based on Image Feature and Singular Value Decomposition[J]. Laser & Optoelectronics Progress, 2020, 57(10): 101101 Copy Citation Text

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Fig. 1. Framework of registration algorithm

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Fig. 2. Pixel gray level of BA image

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Fig. 3. Histogram of IDSC features at different sampling points. (a) Three sampling points for head contour; (b) IDSC histogram at three sampling points

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Fig. 4. Four groups of point clouds to be registered. (a) Bunny; (b) Dragon; (c) skull; (d) cultural relic

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Fig. 5. Rough registration results of four groups of point clouds. (a) Bunny; (b) Dragon; (c) skull; (d) cultural relic

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Fig. 6. Fine registration results of four groups of point clouds. (a) Bunny; (b) Dragon;(c) skull; (d) cultural relic

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Point cloud	Number of points	Registration algorithm	Registration error /mm	Running time /s
Bunny	40256, 40096	ICP	0.0289	5.2
		Ref. [13]	0.0247	4.5
		Ref. [14]	0.0201	3.7
		Proposed	0.0185	2.8
Dragon	41841, 22092	ICP	0.0318	6.3
		Ref. [13]	0.0274	5.3
		Ref. [14]	0.0229	4.1
		Proposed	0.0201	3.5
Skull	46842, 39787	ICP	0.0320	7.8
		Ref. [13]	0.0274	6.6
		Ref. [14]	0.0224	5.2
		Proposed	0.0199	4.6
Cultural relic	44731, 39629	ICP	0.0326	8.5
		Ref. [13]	0.0281	7.4
		Ref. [14]	0.0235	6.0
		Proposed	0.0206	5.4

Table 1. Comparison of registration results of four algorithms

Fuqun Zhao, Guohua Geng. Point Cloud Registration Algorithm Based on Image Feature and Singular Value Decomposition[J]. Laser & Optoelectronics Progress, 2020, 57(10): 101101

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