Infrared and Laser Engineering, Volume. 50, Issue 10, 20200483(2021)
Optimization and performance verification of high efficiency ICP registration for laser point clouds
Figures & Tables(8)
Fig. 1. Block diagram of optimization scheme of point cloud registration
Fig. 4. FPFH eigenvalues and its comparison of key points. (a) Point
Fig. 5. Point cloud results with SAC-IA coarse registration and ICP fine registration respectively
Fig. 6. Corridor point clouds registration experiment.(a) Original point clouds pairs; (b) Filtered point clouds pairs; (c) SAC-IA coarse registration; (d) ICP fine registration
Table 1. Comparison of effect of ISS on point clouds registration
View tableView in ArticleTable 1. Comparison of effect of ISS on point clouds registration
Experimental point clouds Algorithms Original points Down-sampling points Euclid score Time/s Building SAC-IA 112586 17677 0.0086 12.061 SAC-IA+ISS 112624 17640 0.0087 6.797
Table 2. Comparison of registration evaluation parameters for three algorithms
View tableView in ArticleTable 2. Comparison of registration evaluation parameters for three algorithms
Experimental point clouds Algorithms Original points Down-sampling points Iteration number of ICP Euclid score Time/s Building Conventional ICP 112586 17677 45 0.0041 8.297 SAC-IA+ICP 112624 17640 12 0.0041 7.586 Optimized SAC-IA+ICP 5 0.0040 6.986 Corridor Conventional ICP 290545 5938 33 0.0058 2.042 SAC-IA+ICP 290608 5942 14 0.0057 1.566 Optimized SAC-IA+ICP 7 0.0057 1.496
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Jianjun Wang, Yunpeng Lu, Jiyun Zhang, Chongyue Bai, Yanwei Hu, Xuhui Li, Jiongyu Wang. Optimization and performance verification of high efficiency ICP registration for laser point clouds[J]. Infrared and Laser Engineering, 2021, 50(10): 20200483
Paper Information
Category: Image processing
Received: Dec. 3, 2020
Accepted: --
Published Online: Dec. 7, 2021
The Author Email: Wang Jianjun (wangjianjun@sdut.edu.cn)
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