Infrared and Laser Engineering, Volume. 51, Issue 6, 20210491(2022)
3D point cloud registration algorithm with IVCCS
Figures & Tables(24)
Fig. 11. Point cloud images scanned by radar at different viewing angles
Table 1. Segment size of partial point cloud model in the data set
View tableView in ArticleTable 1. Segment size of partial point cloud model in the data set
Model Model Fragment Number Gazebo Gazebo_0 135842 Gazebo_1 135589 Scans Scan_3582 54934 Scan_3725 54818
Table 2. Statistics of experimental results of Gazebo ideal data
View tableView in ArticleTable 2. Statistics of experimental results of Gazebo ideal data
Algorithm RMSE Time/s Iterations ICP 1.49×10−5 298.996 29 FPFH+ICP 1.28×10−5 17.65 24 IVCCS+WICP 1.06×10−5 2.294 20
Table 3. Statistics of experimental results of the algorithm before and after improvement
View tableView in ArticleTable 3. Statistics of experimental results of the algorithm before and after improvement
Algorithm RMSE Time/s Iterations VCCS+ICP 2.14×10−5 7.682 30 VCCS+WICP 1.34×10−5 2.441 27 IVCCS+ICP 1.76×10−5 7.518 30 IVCCS+WICP 1.16×10−5 2.294 20
Table 4. Statistics of noise data results
View tableView in ArticleTable 4. Statistics of noise data results
Algorithm Noise RMSE Time/s Iterations ICP 5% 3.57×10−3 485.125 133 FPFH+ICP 2.83×10−3 24.827 24 IVCCS+WICP 2.47×10−3 1.896 15 ICP 10% 4.18×10−3 533.17 142 FPFH+ICP 3.41×10−3 25.748 27 IVCCS+WICP 3.12×10−3 2.224 21 ICP 15% 1.08×10−2 942.03 157 FPFH+ICP 9.57×10−3 27.253 37 IVCCS+WICP 8.68×10−3 2.468 25
Table 5. Actual collected data segment size
View tableView in ArticleTable 5. Actual collected data segment size
Model Model fragment Number Car Car_view1 61699 Car_view2 65015 Library Library_view1 18933 Library_view2 18925 Panzer Panzer_view1 10828 Panzer_view2 9298
Table 6. Statistics of car data results
View tableView in ArticleTable 6. Statistics of car data results
Algorithm RMSE Time/s Iterations ICP 6.39×10−4 185.125 41 FPFH+ICP 3.88×20−4 5.978 21 IVCCS+WICP 2.92×10−5 1.474 13
Table 7. Statistics of library data results
View tableView in ArticleTable 7. Statistics of library data results
Algorithm RMSE Time/s Iterations ICP 8.011×10−4 84.828 59 FPFH+ICP 6.243×10−4 3.165 31 IVCCS+WICP 5.386×10−4 0.945 20
Table 8. Statistics of library data results
View tableView in ArticleTable 8. Statistics of library data results
Algorithm RMSE Time/s Iterations ICP 2.199×10−4 31.116 38 FPFH+ICP 1.652×10−4 2.112 21 IVCCS+WICP 1.388×10−4 0.726 14
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Chunyang Wang, Guorui Li, Xuelian Liu, Chunhao Shi, Wenqian Qiu. 3D point cloud registration algorithm with IVCCS[J]. Infrared and Laser Engineering, 2022, 51(6): 20210491
Paper Information
Category: Image processing
Received: Jul. 19, 2021
Accepted: --
Published Online: Dec. 20, 2022
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