Laser & Optoelectronics Progress, Volume. 59, Issue 16, 1610005(2022)

Point Cloud Coarse Registration Algorithm Based on Two-Stage Coordinate Transformation

Siyuan Li1, Jin Liu1、*, Haima Yang2, and Haishan Liu1
Author Affiliations
  • 1School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
  • 2School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
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    Due to the low efficiency and large error of traditional point cloud registration methods, this paper proposes a point cloud coarse registration method that is transformed in stages along with the vertical and horizontal directions. The proposed method first decentralizes the point clouds P and Q for coinciding the center points of two point clouds, then finds the feature point by traversing the distance from the center of mass, and rotates it to the y axis to complete the vertical alignment. The proposed method then finds the feature point again in the xOz plane by traversing the distance from the center of mass and rotates it around the y axis to align horizontally. Finally, to complete the registration, we use the iterative closest point fine registration algorithm. The proposed method has linear time complexity and constant space complexity, with no iterative computation. The proposed method is compared to three classical methods, and three groups of point clouds with varying numbers and scales are used. The experiment shows that the proposed method has high robustness for various point clouds. The proposed method has a registration time of about 4 s and a small change range; when compared to the three traditional methods, the time consumption is reduced by more than 50%. At the same time, the root mean square error of the proposed method is about 10-8 mm, which maintains a good accuracy.

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    Siyuan Li, Jin Liu, Haima Yang, Haishan Liu. Point Cloud Coarse Registration Algorithm Based on Two-Stage Coordinate Transformation[J]. Laser & Optoelectronics Progress, 2022, 59(16): 1610005

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    Paper Information

    Category: Image Processing

    Received: May. 20, 2021

    Accepted: Jun. 27, 2021

    Published Online: Jul. 22, 2022

    The Author Email: Liu Jin (flyingpine@sina.com)

    DOI:10.3788/LOP202259.1610005

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