Jianjun Wang, Yunpeng Lu, Jiyun Zhang, Chongyue Bai, Yanwei Hu, Xuhui Li, Jiongyu Wang. Optimization and performance verification of high efficiency ICP registration for laser point clouds[J]. Infrared and Laser Engineering, 2021, 50(10): 20200483
- Infrared and Laser Engineering
- Vol. 50, Issue 10, 20200483 (2021)
Fig. 1. Block diagram of optimization scheme of point cloud registration
Fig. 2. Calculation principle of PFH
Fig. 3. Results of original and filtered point cloud
Fig. 4. FPFH eigenvalues and its comparison of key points. (a) Point A ; (2) Point B ; (3) Point C ; (4) Point D
Fig. 5. Point cloud results with SAC-IA coarse registration and ICP fine registration respectively
Fig. 6. Corridor point clouds registration experiment.(a) Original point clouds pairs; (b) Filtered point clouds pairs; (c) SAC-IA coarse registration; (d) ICP fine registration
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Table 1. Comparison of effect of ISS on point clouds registration
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Table 2. Comparison of registration evaluation parameters for three algorithms
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