Three-Dimensional Point Cloud Registration Algorithm Based on l p Spatial Mechanics Model

Min Zhao; Qin Shu; Wei Chen; Yunxiu Yang

doi:10.3788/AOS201838.1010005

Journals >Acta Optica Sinica >Volume 38 >Issue 10 >Page 1010005 > Article

Acta Optica Sinica
Vol. 38, Issue 10, 1010005 (2018)

Three-Dimensional Point Cloud Registration Algorithm Based on l ^p Spatial Mechanics Model

Min Zhao^1、*, Qin Shu^1、*, Wei Chen², and Yunxiu Yang²

Author Affiliations

¹ College of Electrical Engineering and Information Technology, Sichuan University, Chengdu, Sichuan 610065, China

² Southwest Institute of Technical Physics, Chengdu, Sichuan 610041, China

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DOI: 10.3788/AOS201838.1010005 Cite this Article Set citation alerts

Min Zhao, Qin Shu, Wei Chen, Yunxiu Yang. Three-Dimensional Point Cloud Registration Algorithm Based on l ^p Spatial Mechanics Model [J]. Acta Optica Sinica, 2018, 38(10): 1010005 Copy Citation Text

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Fig. 1. (a) Eigenvector set FP of target point cloud P'; (b) eigenvector set FQ of source point cloud Q'

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Registration results of Bunny. (a) Original point cloud; (b) initial registration by algorithm in Ref. [26]; (c) precise registration by algorithm in Ref. [26]; (d) initial registration by proposed algorithm; (e) precise registration by proposed algorithm; (f) registration by classic ICP algorithm

Fig. 2. Registration results of Bunny. (a) Original point cloud; (b) initial registration by algorithm in Ref. [26]; (c) precise registration by algorithm in Ref. [26]; (d) initial registration by proposed algorithm; (e) precise registration by proposed algorithm; (f) registration by classic ICP algorithm

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Fig. 3. Registration results of Dragon. (a) Original point cloud; (b) initial registration by algorithm in Ref. [26]; (c) precise registration by algorithm in Ref. [26]; (d) initial registration by the proposed algorithm; (e) precise registration by proposed algorithm; (f) registration by classic ICP algorithm

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Fig. 4. Multi-view 3D point cloud data of part model

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Fig. 5. Registration results of part. (a) Original point cloud; (b) initial registration by algorithm in Ref. [26]; (c) precise registration by algorithm in Ref. [26]; (d) initial registration by proposed algorithm; (e) precise registration by proposed algorithm; (f) registration by classic ICP algorithm

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Fig. 6. Registration result of milk & cleanser. (a) Original point cloud; (b) initial registration by proposed algorithm; (c) precise registration by proposed algorithm

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Algorithm	t /s		MSE /mm
Algorithm	Bunny	Dragon	Bunny	Dragon
Classic ICP algorithm	58.65	73.22	0.27	3.83
Algorithm in Ref. [26]	41.16	49.60	0.082	0.15
Proposed algorithm	16.71	13.35	0.029	0.087

Table 1. Point cloud registration data comparison

Algorithm	Point number of p, q	t /s	MSE /mm
Classic ICP algorithm		102.39	2.593
Algorithm in Ref. [26]	74537 78581	72.57	0.452
Proposed algorithm		23.74	0.148

Table 2. Point cloud registration data comparison

Min Zhao, Qin Shu, Wei Chen, Yunxiu Yang. Three-Dimensional Point Cloud Registration Algorithm Based on l ^p Spatial Mechanics Model [J]. Acta Optica Sinica, 2018, 38(10): 1010005

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