Laser & Optoelectronics Progress, Volume. 58, Issue 8, 0810014(2021)
Three-Dimensional Point Cloud Registration Method with Low Overlap Rate
Figures & Tables(11)
![Registration results of Bunny000 and Bunny045. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method](/Images/icon/loading.gif){kind=icon}
Fig. 2. Registration results of Bunny000 and Bunny045. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
Fig. 3. Registration results of Dragon000 and Dragon024. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
Fig. 4. Registration results of Bunny045 and Bunny090. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
Fig. 5. Registration results of Dragon000 and Dragon048. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
Fig. 6. Registration results of Happy048 and Happy096. (a) Initial position; (b) registering using method of Ref. [11]; (c) registering using method of Ref. [21]; (d) registering using proposed method
Fig. 7. Registration results of Chair1 and Chair2. (a) Initial point cloud 1; (b) initial point cloud 2; (c) registering using proposed method
Fig. 8. Registration results of Motobike1 and Motobike2. (a) Initial point cloud 1; (b) initial point cloud 2; (c) registering using proposed method
Table 1. Comparison of point cloud registration results with high overlap rate
View tableTable 1. Comparison of point cloud registration results with high overlap rate
Point cloud Registration algorithm LCP Running time /s Go-ICP 0.760 73.00 Super4PCS 0.861 31.25 Bunny000 and Bunny045 Method of Ref. [11] 0.930 10.05 Method of Ref. [21] 0.964 12.98 Proposed method 0.979 12.27 Go-ICP 0.728 63.50 Super4PCS 0.803 23.74 Dragon000 and Dragon024 Method of Ref. [11] 0.806 13.85 Method of Ref. [21] 0.875 12.15 Proposed method 0.920 11.80
Table 2. Comparison of point cloud registration results with low overlap rate
View tableTable 2. Comparison of point cloud registration results with low overlap rate
Point cloud Registration algorithm LCP Running time /s Go-ICP 0.598 95.55 Super4PCS 0.676 35.89 Bunny045 and Bunny090 Method of Ref. [11] 0.725 13.76 Method of Ref. [21] 0.783 12.23 Proposed method 0.834 12.09 Go-ICP 0.479 83.43 Super4PCS 0.559 32.96 Dragon000 and Dragon048 Method of Ref. [11] 0.587 17.49 Method of Ref. [21] 0.493 8.34 Proposed method 0.756 13.92 Go-ICP 0.399 67.05 Super4PCS 0.414 23.37 Happy045 and Happy090 Method of Ref. [11] 0.459 15.86 Method of Ref. [21] 0.472 8.12 Proposed method 0.728 10.45
Table 3. Registration performance of real 3D scan data
View tableTable 3. Registration performance of real 3D scan data
Point cloud LCP Running time /s Chair1 and Chair2 0.804 12.49 Motobike1 and Motobike2 0.773 11.15
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Yuan Zhang, Xiaoyan Li, Xie Han. Three-Dimensional Point Cloud Registration Method with Low Overlap Rate[J]. Laser & Optoelectronics Progress, 2021, 58(8): 0810014
Paper Information
Category: Image Processing
Received: Jul. 7, 2020
Accepted: Sep. 15, 2020
Published Online: Apr. 12, 2021
The Author Email: Li Xiaoyan (2602029654@qq.com)
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