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    Journals >Laser & Optoelectronics Progress >Volume 56 >Issue 1 >Page 011203 > Article
    • Laser & Optoelectronics Progress
    • Vol. 56, Issue 1, 011203 (2019)
    Three-Dimensional Point Cloud Registration Based on Independent Component Analysis
    Ming Liu1, Qin Shu1、*, Yunxiu Yang2, and Fei Yuan2
    Author Affiliations
  • 1 School of Electrical Engineering and Information, Sichuan University, Chengdu, Sichuan 610065, China
  • 2 Southwest Institute of Technical Physics, Chengdu, Sichuan 610041, China
    • show less
    DOI: 10.3788/LOP56.011203 Cite this Article Set citation alerts
    Ming Liu, Qin Shu, Yunxiu Yang, Fei Yuan. Three-Dimensional Point Cloud Registration Based on Independent Component Analysis[J]. Laser & Optoelectronics Progress, 2019, 56(1): 011203 Copy Citation Text show less
    Flow chart of proposed algorithm
    Fig. 1. Flow chart of proposed algorithm
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    Point cloud of Bunny. (a) Independent component feature graph of original point cloud; (b) independent component feature graph of unregistered point cloud
    Fig. 2. Point cloud of Bunny. (a) Independent component feature graph of original point cloud; (b) independent component feature graph of unregistered point cloud
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    Registration of Bunny.(a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm
    Fig. 3. Registration of Bunny.(a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm
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    Point cloud of Elephant. (a) Independent component feature graph of original point cloud; (b) independent component feature graph of unregistered point cloud
    Fig. 4. Point cloud of Elephant. (a) Independent component feature graph of original point cloud; (b) independent component feature graph of unregistered point cloud
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    Registration of Elephant. (a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm
    Fig. 5. Registration of Elephant. (a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm
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    Point cloud registration after adding noise. (a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm
    Fig. 6. Point cloud registration after adding noise. (a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm
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    Registration of spare part. (a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm
    Fig. 7. Registration of spare part. (a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm
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    Point cloud of spare part. (a) Independent component feature graph of original point cloud; (b) independent component feature graph of unregistered point cloud
    Fig. 8. Point cloud of spare part. (a) Independent component feature graph of original point cloud; (b) independent component feature graph of unregistered point cloud
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    Point cloudAlgorithmTime /sMSE /mm
    BunnyICP53.4760.195
    CPD algorithm28.4731.098×10-10
    Scale-ICP algorithm6.6958.439×10-15
    Proposed algorithm0.8311.625×10-28
    ElephantICP38.4050.014
    CPD algorithm21.0551.1577×10-8
    Scale-ICP algorithm5.7247.559×10-16
    Proposed algorithm0.4732.246×10-30
    Table 1. Comparison of point cloud registrations with different algorithms
    AlgorithmTime /sMSE /mm
    ICP67.3520.2687
    CPD algorithm37.4270.1021
    Scale-ICP algorithm11.9460.1301
    Proposed algorithm0.9740.1025
    Table 2. Comparison of point cloud registrations after adding noise
    AlgorithmTime /sMSE /mm
    ICP196.3520.385
    CPD algorithm124.4273.0605×10-14
    Scale-ICP algorithm102.8573.4667×10-11
    Proposed algorithm2.5349.019×10-22
    Table 3. Comparison of point cloud registrations of spare part
    Abstract
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    Ming Liu, Qin Shu, Yunxiu Yang, Fei Yuan. Three-Dimensional Point Cloud Registration Based on Independent Component Analysis[J]. Laser & Optoelectronics Progress, 2019, 56(1): 011203
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    Paper Information
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