Researching

Journals
  • Advanced Photonics
  • Photonics Insights
  • Advanced Photonics Nexus
  • Photonics Research
  • Advanced Imaging
  • View All Journals
  • Chinese Optics Letters
  • High Power Laser Science and Engineering
    • Articles
  • Optics
  • Physics
  • Geography
  • View All Subjects
    • Conferences
  • CIOP
  • HPLSE
  • AP
  • View All Events
    • News
    About CLP
    Search by keywords or author
    Journals >Laser & Optoelectronics Progress >Volume 57 >Issue 20 >Page 201015 > Article
    • Laser & Optoelectronics Progress
    • Vol. 57, Issue 20, 201015 (2020)
    Point Cloud Adaptive Registration Algorithm Based on Color Information and Geometric Information
    Yong Wang1 and Chun Li2、*
    Author Affiliations
  • 1Liangjiang College of Artificial Intelligence, Chongqing University of Technology, Chongqing 401135, China
  • 2School of Computer Science and Engineering, Chongqing University of Technology, Chongqing 400054, China
    • show less
    DOI: 10.3788/LOP57.201015 Cite this Article Set citation alerts
    Yong Wang, Chun Li. Point Cloud Adaptive Registration Algorithm Based on Color Information and Geometric Information[J]. Laser & Optoelectronics Progress, 2020, 57(20): 201015 Copy Citation Text show less
    Basic flow of algorithm
    Fig. 1. Basic flow of algorithm
    Download full size
    Facial Makeup point cloud registration results. (a1) Initial pose of two point clouds; registration results of (b1) two point clouds under the classical ICP algorithm, (c1) 4D-ICP(Hue) algorithm, (d1) 4D-ICP (IAICP) algorithm,and (e1) proposed algorithm; (a2) initial pose of two point clouds; registration results of (b2) two point clouds under the classical ICP algorithm, (c2) 4D-ICP(Hue) algorithm, (d2) 4D-ICP (IAICP) algorithm, and (e2) proposed algorithm
    Fig. 2. Facial Makeup point cloud registration results. (a1) Initial pose of two point clouds; registration results of (b1) two point clouds under the classical ICP algorithm, (c1) 4D-ICP(Hue) algorithm, (d1) 4D-ICP (IAICP) algorithm,and (e1) proposed algorithm; (a2) initial pose of two point clouds; registration results of (b2) two point clouds under the classical ICP algorithm, (c2) 4D-ICP(Hue) algorithm, (d2) 4D-ICP (IAICP) algorithm, and (e2) proposed algorithm
    Download full size
    Kettle point cloud registration results. (a1) Initial pose of two point clouds; registration results of (b1) two point clouds under the classical ICP algorithm, (c1) 4D-ICP(Hue) algorithm, (d1) 4D-ICP (IAICP) algorithm,and (e1) proposed algorithm; (a2) initial pose of two point clouds; registration results of (b2) two point clouds under the classical ICP algorithm, (c2) 4D-ICP(Hue) algorithm, (d2) 4D-ICP (IAICP) algorithm, and (e2) proposed algorithm
    Fig. 3. Kettle point cloud registration results. (a1) Initial pose of two point clouds; registration results of (b1) two point clouds under the classical ICP algorithm, (c1) 4D-ICP(Hue) algorithm, (d1) 4D-ICP (IAICP) algorithm,and (e1) proposed algorithm; (a2) initial pose of two point clouds; registration results of (b2) two point clouds under the classical ICP algorithm, (c2) 4D-ICP(Hue) algorithm, (d2) 4D-ICP (IAICP) algorithm, and (e2) proposed algorithm
    Download full size
    Plaster statue point cloud registration results. (a1) Initial pose of two point clouds; registration results of (b1) two point clouds under the classical ICP algorithm, (c1) 4D-ICP(Hue) algorithm, (d1) 4D-ICP (IAICP) algorithm, and (e1) proposed algorithm; (a2) initial pose of two point clouds; registration results of (b2) two point clouds under the classical ICP algorithm, (c2) 4D-ICP(Hue) algorithm, (d2) 4D-ICP (IAICP) algorithm, and (e2) proposed algorithm
    Fig. 4. Plaster statue point cloud registration results. (a1) Initial pose of two point clouds; registration results of (b1) two point clouds under the classical ICP algorithm, (c1) 4D-ICP(Hue) algorithm, (d1) 4D-ICP (IAICP) algorithm, and (e1) proposed algorithm; (a2) initial pose of two point clouds; registration results of (b2) two point clouds under the classical ICP algorithm, (c2) 4D-ICP(Hue) algorithm, (d2) 4D-ICP (IAICP) algorithm, and (e2) proposed algorithm
    Download full size
    Time comparison line chart of registration results. (a) Time of each method on different models without noise; (b) time of each method on different models with Gaussian noise
    Fig. 5. Time comparison line chart of registration results. (a) Time of each method on different models without noise; (b) time of each method on different models with Gaussian noise
    Download full size
    Error comparison line chart of registration results. (a) Error of each method on different models without noise; (b) error of each method on different models with Gaussian noise
    Fig. 6. Error comparison line chart of registration results. (a) Error of each method on different models without noise; (b) error of each method on different models with Gaussian noise
    Download full size
    AlgorithmFacial MakeupKettlePlaster Statue
    Time /sRMSETime /sRMSETime /sRMSE
    Classic ICP4DICP(Hue)4DICP(IAICP)Proposed41.95036.97447.46063.67310.75930.75930.73430.6285161.083824.584625.05617.29461.03081.03081.01650.5526403.943348.889252.532511.55771.77771.77771.77121.7538
    Table 1. Comparison of registration results of four algorithms without noise
    AlgorithmFacial MakeupKettlePlaster Statue
    Time /sRMSETime /sRMSETime /sRMSE
    Classic ICP4DICP(Hue)4DICP(IAICP)Proposed39.39518.25937.80494.13390.96981.21830.93160.6293158.291434.657828.19508.33301.05841.10071.05820.5521454.779659.026256.959612.00351.88171.82651.88111.7543
    Table 2. Comparison of registration results of four algorithms with Gaussian noise
    Abstract
    Get PDF(in Chinese)
    Figures&Tables (8)
    Equations (0)
    References (12)
    Cited By (2)
    Get Citation
    Copy Citation Text
    Yong Wang, Chun Li. Point Cloud Adaptive Registration Algorithm Based on Color Information and Geometric Information[J]. Laser & Optoelectronics Progress, 2020, 57(20): 201015
    Download Citation
    Set citation alerts for the article
    Tools
    Share
    Set citation alerts for the article
    Save the article for my favorites
    Paper Information
    Recommended Topics
    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology