Laser Journal, Volume. 45, Issue 12, 160(2024)

Improved ICP point cloud registration considering the key points of geometric feature information classification

ZHANG Haoran1, CHEN Guoping1,2,3、*, ZHAO Huiyou1, and ZHAO Junsan1,2,3
Author Affiliations
  • 1Faculty of Land Resources Engineering, Kunming University of Science and Technology, Kunming 650031, China
  • 2Key Laboratory of Geospatial Information Integration Innovation for Smart Mines, Kunming 650093, China
  • 3Spatial Information Integration Technology of Natural Resources in Universities of Yunnan Province, Kunming 650211, China
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    References(11)

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    [7] [7] Servos J, Waslander Sl. Multi-Channel Generalized-ICP: a robust framework for multi-channel scan registration[J]. Robotics & Autonomous Systems, 2017, (87): 247-257.

    [8] [8] Yang J, Li H, Jia Y. Go-ICP: A Globally Optimal Solution to 3D ICP Point-Set Registration[C]//IEEE Transactions on Pattern Analysis and Machine Intelligence, 2016, 38(11): 2241-2254.

    [9] [9] Pavlos M, Anthousis A, Georgios P. EFFICIENT Sparse Iterative Closest Point[J]. Computer Aided Geometric Design, 2015, 35: 16-26.

    [10] [10] Serafin J, Grisetti G. NICP: Dense normal based point cloud registration[C]//IEEE International Conference on Robots and System(IROS), 2015: 742-749.

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    [13] [13] Xiong F G, Dong. A local feature descriptor based on rotational volume for pair-wise registration of point clouds[J]. IEEE Access, 2020, 8: 100120-100134.

    [14] [14] Dong Z, Liang F X, Yang B S, et al. Registration of large-scale terrestrial laser scanner point clouds: A review and benchmark[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 2020, 163: 327-342.

    [17] [17] Kleppe A L, Egeland O. A Curvature-Based Descriptor for Point Cloud Alignment Using Conformal Geometric Algebra[J]. Springer International Publishing, 2018, 28(2): 1-16.

    [21] [21] NATHAN B, LEI F, YANG Z. Point cloud registration: a mini-review of current state, challenging issues and future directions[J]. AIMS Geosciences, 2023, 9(1): 68-85.

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    ZHANG Haoran, CHEN Guoping, ZHAO Huiyou, ZHAO Junsan. Improved ICP point cloud registration considering the key points of geometric feature information classification[J]. Laser Journal, 2024, 45(12): 160

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    Paper Information

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    Received: Mar. 27, 2024

    Accepted: Mar. 10, 2025

    Published Online: Mar. 10, 2025

    The Author Email: Guoping CHEN (115432640@qq.com)

    DOI:10.14016/j.cnki.jgzz.2024.12.160

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