Laser & Optoelectronics Progress, Volume. 60, Issue 12, 1210023(2023)
Registration Algorithm for Differently Scaled Point Clouds Based on Artificial Bee Colony Optimization
Fig. 1. Flowchart of proposed algorithm
Fig. 2. Homologous point cloud data. (a) Bun000; (b) Bun045; (c) ArmadilloBack_0; (d) ArmadilloBack_30
Fig. 3. Cross-source point cloud data. (a) Bag_Kinect; (b) Bag_SFM; (c) Tsinghua gate_Lidar; (d) Tsinghua gate_SFM; (e) Life science building_Lidar; (f) Life science building_SFM
Fig. 4. Point clouds to be registered with different scaling factors. (a) Bunny, so=20; (b) Bunny, so=10; (c) Bunny, so=1.25; (d) Armadillo, so=20; (e) Armadillo, so=10; (f) Armadillo, so=1.25
Fig. 5. Registration results of various algorithms for Bunny point cloud under different scale factors. (a) EBABC-RS-IR; (b) ICP; (c) Scale-ICP; (d) CPD; (e) proposed algorithm
Fig. 6. Registration results of various algorithms for Armadillo point cloud under different scale factors. (a) EBABC-RS-IR; (b) ICP; (c) Scale-ICP; (d) CPD; (e) proposed algorithm
Fig. 7. Point cloud registration results under different noise. (a) Bunny, 20 dB; (b) Bunny, 25 dB; (c) Bunny, 30 dB; (d) Armadillo, 20 dB; (e) Armadillo, 25 dB; (f) Armadillo, 30 dB
Fig. 8. Relative initial state of cross-source point clouds to be registered. (a) Bag; (b) Tsinghua gate; (c) Life science building
Fig. 9. Local amplification effect of Bag registration
Fig. 10. Tsinghua gate point cloud registration results. (a) Main perspective; (b) prone perspective; (c) side perspective
Fig. 11. Life science building point cloud registration results. (a) Main perspective; (b) prone perspective; (c) side perspective
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Yiping Fan, Baozhen Ge, Lei Chen. Registration Algorithm for Differently Scaled Point Clouds Based on Artificial Bee Colony Optimization[J]. Laser & Optoelectronics Progress, 2023, 60(12): 1210023
Category: Image Processing
Received: May. 30, 2022
Accepted: Jul. 14, 2022
Published Online: Jun. 1, 2023
The Author Email: Chen Lei (chenlei@tjcu.edu.cn)