Infrared and Laser Engineering, Volume. 50, Issue 9, 20200431(2021)
Improved registration algorithm for spatial non-cooperative target point cloud clustering
Figures & Tables(15)
Fig. 1. Positional relationship of measurable points in radar coordinate system
Fig. 2. Spatial non-cooperative target simulation visual point cloud
Table 1. Registration results of proposed algorithm
View tableView in ArticleTable 1. Registration results of proposed algorithm
Groups Three axis translation distance dx/mm dy/mm dz/mm 21-20 −0.4724 −0.5263 1.0306 22-21 −1.2240 0.6375 0.4955 23-22 −0.1181 −0.3058 0.7028 ... ... ... ... 48-47 0.5716 −1.0855 0.3489 49-48 −0.9771 2.6975 −0.3801 50-49 −0.1905 0.9025 −0.4344 Groups Three axis rotation angle ax/(°) ay/(°) az/(°) 21-20 −0.0067 4.4969 −0.3413 22-21 −0.2573 4.5963 0.8183 23-22 −0.2653 4.9013 1.0290 ... ... ... ... 48-47 −0.0173 4.6220 −0.2492 49-48 0.2148 4.8584 −0.0877 50-49 −0.1250 4.9179 −0.0648
Table 2. Registration results of ICP algorithm
View tableView in ArticleTable 2. Registration results of ICP algorithm
Groups Three axis translation distance dx/mm dy/mm dz/mm 21-20 0.3604 −0.3464 0.4818 22-21 0.1552 −0.6967 0.5961 23-22 0.1630 −0.2454 −0.1001 ... ... ... ... 48-47 0.0407 −0.1771 −0.4323 49-48 0.0297 −0.1239 0.2898 50-49 0.2101 0.1776 0.1921 Groups Three axis rotation angle ax/(°) ay/(°) az/(°) 21-20 −0.2088 4.8290 0.6914 22-21 −0.0787 4.7867 1.3158 23-22 0.1538 4.9692 1.0110 ... ... ... ... 48-47 0.3225 4.8553 0.2024 49-48 0.3585 4.8523 0.1457 50-49 0.4546 4.7852 0.2026
Table 3. Algorithm time-consuming comparison
View tableView in ArticleTable 3. Algorithm time-consuming comparison
Groups Proposed algorithm consumes time/s ICP algorithm consumes time/s 21-20 12.9 29.5 22-21 15.9 33.3 23-22 17.4 37.5 ... ... ... 48-47 13.1 49.8 49-48 13.0 44.1 50-49 12.0 40.7
Table 4. Registration cumulative error statistics
View tableView in ArticleTable 4. Registration cumulative error statistics
Groups Three axis translation distance dx/mm dy/mm dz/mm Proposed algorithm 0.7101 2.4222 0.3235 ICP algorithm 2.0442 −0.7100 2.7629 Groups Three axis rotation angle ax/(°) ay/(°) az/(°) Proposed algorithm 0.2624 10.4549 3.2799 ICP algorithm 2.2442 4.4245 7.8200
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Qi Lu, Tingting Lin, Pengcheng Li, Ronghua Li, Yanjun Ge. Improved registration algorithm for spatial non-cooperative target point cloud clustering[J]. Infrared and Laser Engineering, 2021, 50(9): 20200431
Paper Information
Category: Image processing
Received: Dec. 12, 2020
Accepted: --
Published Online: Oct. 28, 2021
The Author Email: Li Ronghua (lironghua705@163.com)
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