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    Journals >Laser & Optoelectronics Progress >Volume 58 >Issue 8 >Page 0810014 > Article
    • Laser & Optoelectronics Progress
    • Vol. 58, Issue 8, 0810014 (2021)
    Three-Dimensional Point Cloud Registration Method with Low Overlap Rate
    Yuan Zhang, Xiaoyan Li*, and Xie Han
    Author Affiliations
  • School of Data Science and Technology, North University of China, Taiyuan, Shanxi 030051, China
    • show less
    DOI: 10.3788/LOP202158.0810014 Cite this Article Set citation alerts
    Yuan Zhang, Xiaoyan Li, Xie Han. Three-Dimensional Point Cloud Registration Method with Low Overlap Rate[J]. Laser & Optoelectronics Progress, 2021, 58(8): 0810014 Copy Citation Text show less
    Main flow chart of proposed algorithm
    Fig. 1. Main flow chart of proposed algorithm
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    Registration results of Bunny000 and Bunny045. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
    Fig. 2. Registration results of Bunny000 and Bunny045. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
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    Registration results of Dragon000 and Dragon024. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
    Fig. 3. Registration results of Dragon000 and Dragon024. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
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    Registration results of Bunny045 and Bunny090. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
    Fig. 4. Registration results of Bunny045 and Bunny090. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
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    Registration results of Dragon000 and Dragon048. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
    Fig. 5. Registration results of Dragon000 and Dragon048. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
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    Registration results of Happy048 and Happy096. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
    Fig. 6. Registration results of Happy048 and Happy096. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
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    Registration results of Chair1 and Chair2. (a) Initial point cloud 1; (b) initial point cloud 2; (c) registering using proposed method
    Fig. 7. Registration results of Chair1 and Chair2. (a) Initial point cloud 1; (b) initial point cloud 2; (c) registering using proposed method
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    Registration results of Motobike1 and Motobike2. (a) Initial point cloud 1; (b) initial point cloud 2; (c) registering using proposed method
    Fig. 8. Registration results of Motobike1 and Motobike2. (a) Initial point cloud 1; (b) initial point cloud 2; (c) registering using proposed method
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    Point cloudRegistration algorithmLCPRunning time /s
    Go-ICP0.76073.00
    Super4PCS0.86131.25
    Bunny000 and Bunny045Method of Ref. [11]0.93010.05
    Method of Ref. [21]0.96412.98
    Proposed method0.97912.27
    Go-ICP0.72863.50
    Super4PCS0.80323.74
    Dragon000 and Dragon024Method of Ref. [11]0.80613.85
    Method of Ref. [21]0.87512.15
    Proposed method0.92011.80
    Table 1. Comparison of point cloud registration results with high overlap rate
    Point cloudRegistration algorithmLCPRunning time /s
    Go-ICP0.59895.55
    Super4PCS0.67635.89
    Bunny045 and Bunny090Method of Ref. [11]0.72513.76
    Method of Ref. [21]0.78312.23
    Proposed method0.83412.09
    Go-ICP0.47983.43
    Super4PCS0.55932.96
    Dragon000 and Dragon048Method of Ref. [11]0.58717.49
    Method of Ref. [21]0.4938.34
    Proposed method0.75613.92
    Go-ICP0.39967.05
    Super4PCS0.41423.37
    Happy045 and Happy090Method of Ref. [11]0.45915.86
    Method of Ref. [21]0.4728.12
    Proposed method0.72810.45
    Table 2. Comparison of point cloud registration results with low overlap rate
    Point cloudLCPRunning time /s
    Chair1 and Chair20.80412.49
    Motobike1 and Motobike20.77311.15
    Table 3. Registration performance of real 3D scan data
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    References (21)
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    Yuan Zhang, Xiaoyan Li, Xie Han. Three-Dimensional Point Cloud Registration Method with Low Overlap Rate[J]. Laser & Optoelectronics Progress, 2021, 58(8): 0810014
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    Paper Information
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