Laser & Optoelectronics Progress, Volume. 56, Issue 19, 191503(2019)
Three-Dimensional Point Cloud Registration Algorithm Based on Factor Analysis
Figures & Tables(11)
Fig. 2. Registration effects of Armadillo and Elephant point clouds by five algorithms
Fig. 3. Registration effect of Bunny point cloud in different white noise environments
Fig. 4. Registration error and registration time of Bunny point cloud in different white noise environments. (a) Registration time; (b) registration error
Fig. 5. Registration effect of Dragon point cloud in different data missing environments
Fig. 6. Registration error and registration time of Dragon point cloud in different data missing environments. (a) Registration time; (b) registration error
Table 1. Registration time and registration error of five algorithms
View tableTable 1. Registration time and registration error of five algorithms
Algorithm Time /s E RMSE /mmArmadillo Elephant Armadillo Elephant FA 40.8 27.5 0.7457 0.0092 ICP 161.2 78.3 0.7425 0.0092 Scale-ICP 6.2 6.1 2.5781 0.0106 CPD 157.9 111.8 2.5886 0.0178 Go-ICP 31.2 28.7 0.7513 0.1504
Table 2. Registration error and registration time of five algorithms for Bottle and Box point clouds
View tableTable 2. Registration error and registration time of five algorithms for Bottle and Box point clouds
Algorithm Time /s E RMSE /mmBottle Box Bottle Box FA 23.3 33.8 0.4829 0.4851 ICP 360.5 380.1 0.4643 0.4840 Scale-ICP 4.3 7.4 3.2711 0.5878 CPD 68.7 235.1 0.5433 0.5377 Go-ICP 27.8 29.3 0.4783 0.4752
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Zhirong Tang, Yue Jiang, Changwei Miao, Chengqiang Zhao. Three-Dimensional Point Cloud Registration Algorithm Based on Factor Analysis[J]. Laser & Optoelectronics Progress, 2019, 56(19): 191503
Paper Information
Category: Machine Vision
Received: Mar. 25, 2019
Accepted: Apr. 19, 2019
Published Online: Oct. 12, 2019
The Author Email: Tang Zhirong (913865538@qq.com)
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