Laser & Optoelectronics Progress, Volume. 57, Issue 12, 121503(2020)
Point Cloud Registration Algorithm Based on Cosine Similarity
Fig. 1. Point cloud rasterization.(a) Original point cloud rasterization; (b) target point cloud rasterization
Fig. 3. Comparison of registration results of various algorithms in Feet perspective 1. (a) Unregistered results; (b) CPD algorithm; (c) Scale-ICP algorithm; (d) Go-ICP algorithm; (e) proposed algorithm
Fig. 4. Comparison of registration results of various algorithms in Feet perspective 2. (a) Unregistered results; (b) CPD algorithm; (c) Scale-ICP algorithm; (d) Go-ICP algorithm; (e) proposed algorithm
Fig. 5. Comparison of registration results of various algorithms in Cow perspective 1. (a) Unregistered results; (b) CPD algorithm; (c) Scale-ICP algorithm; (d) Go-ICP algorithm; (e) proposed algorithm
Fig. 6. Comparison of registration results of various algorithms in Cow perspective 2. (a) Unregistered results; (b) CPD algorithm; (c) Scale-ICP algorithm; (d) Go-ICP algorithm; (e) proposed algorithm
Fig. 7. Comparison of registration results of various algorithms for adding noise to Feet. (a) Unregistered results; (b) CPD algorithm; (c) Scale-ICP algorithm; (d) Go-ICP algorithm; (e) proposed algorithm
Fig. 8. Comparison of registration results of various algorithms for adding noise to Cow. (a) Unregistered results; (b) CPD algorithm; (c) Scale-ICP algorithm; (d) Go-ICP algorithm; (e) proposed algorithm
Fig. 9. Comparison of registration results of various algorithms for Feet losing 50% data. (a) Unregistered results; (b) CPD algorithm; (c) Scale-ICP algorithm; (d) Go-ICP algorithm; (e) proposed algorithm
Fig. 10. Comparison of registration results of various algorithms for Feet losing 75% data. (a) Unregistered results; (b) CPD algorithm; (c) Scale-ICP algorithm; (d) Go-ICP algorithm; (e) proposed algorithm
Fig. 11. Comparison of registration results of various algorithms for Cow losing 50% data. (a) Unregistered results; (b) CPD algorithm; (c) Scale-ICP algorithm; (d) Go-ICP algorithm; (e) proposed algorithm
Fig. 12. Comparison of registration results of various algorithms for Cow losing 75% data. (a) Unregistered results; (b) CPD algorithm; (c) Scale-ICP algorithm; (d) Go-ICP algorithm; (e) proposed algorithm
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Xu Zhan, Yong Cai. Point Cloud Registration Algorithm Based on Cosine Similarity[J]. Laser & Optoelectronics Progress, 2020, 57(12): 121503
Category: Machine Vision
Received: Sep. 2, 2019
Accepted: Nov. 8, 2019
Published Online: Jun. 3, 2020
The Author Email: Cai Yong (caiy@swust.edu)