Infrared and Laser Engineering, Volume. 51, Issue 5, 20210342(2022)
Local neighborhood feature point extraction and matching for point cloud alignment
Fig. 1. Changes in the surface of a local neighborhoods. (a) Relatively flat surface; (b) Undulating surface
Fig. 2. Feature point extraction of Dragon model under different artificially selected thresholds Dragon模型在人为选取不同阈值 下的特征点提取情况
Fig. 3. Feature point extraction for Dragon 0°. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method
Fig. 4. Feature point extraction for Bunny 0°. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method
Fig. 5. Influence of neighborhood radius
Fig. 6. Rough matching results of Dragon in different feature point extraction methods. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method
Fig. 7. Rough matching results of Bunny in different feature point extraction methods. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method
Fig. 8. Results of fine registration for Dragon and Bunny. (a) ICP algorithm; (b) Proposed ICP algorithm
Fig. 9. Rough matching results of Bunny with 10% noise under different methods. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method
Fig. 10. Rough matching results of Bunny with 20% noise under different methods. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method
Fig. 11. Results of fine registration for Bunny with 10% and 20% noise. (a) ICP algorithm; (b) Proposed ICP algorithm
Fig. 12. Rough matching results of Room in different feature point extraction methods. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method
Fig. 13. Rough matching results of Land in different feature point extraction methods. (a) ISS; (b) SIFT; (c) Harris3D; (d) Proposed method
Fig. 14. Results of fine registration for Room and Land. (a) ICP algorithm; (b) Proposed ICP algorithm
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Mingjun Wang, Fang Yi, Le Li, Chaojun Huang. Local neighborhood feature point extraction and matching for point cloud alignment[J]. Infrared and Laser Engineering, 2022, 51(5): 20210342
Category: Image processing
Received: May. 27, 2021
Accepted: --
Published Online: Jun. 14, 2022
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