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Laser & Optoelectronics Progress, Volume. 58, Issue 16, 1610016(2021)

Boundary Extraction of Scattered Point Cloud with Normal Estimation Based on Improved 3RDP Algorithm

Shuai Li1,2 and Yuhong Du1,2、*
Author Affiliations
  • 1College of Mechanical Engineer, Tiangong University, Tianjin 300387, China
  • 2Tianjin Key Laboratory of Modern Mechanical and Electrical Equipment Technology, Tianjin 300387, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (12)
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    References (19)
    Cited By (2)
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    Figures & Tables(12)
    Original point cloud “xbox”

    Fig. 1. Original point cloud “xbox”

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    Effect diagrams for different values of K and R

    Fig. 2. Effect diagrams for different values of K and R

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    Point set sorting process

    Fig. 3. Point set sorting process

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    Three-dimensional Douglas-Puck algorithm diagram

    Fig. 4. Three-dimensional Douglas-Puck algorithm diagram

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    Comparison of rejection rates of 10 targets

    Fig. 5. Comparison of rejection rates of 10 targets

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    Contour extraction effect of Meleon40 data

    Fig. 6. Contour extraction effect of Meleon40 data

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    Preprocessing of original point cloud. (a) Real environmental objects; (b) original point cloud collected; (c) point cloud after preprocessing

    Fig. 7. Preprocessing of original point cloud. (a) Real environmental objects; (b) original point cloud collected; (c) point cloud after preprocessing

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    Contour extraction effect diagram

    Fig. 8. Contour extraction effect diagram

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    Algorithm comparison analysis. (a) Original point cloud of Sink; (b) extraction effect of Sink using Gaussian clustering algorithm; (c) extraction effect of Sink using improved 3RDP algorithm; (d) original point cloud of Table; (e) extraction effect of Table using Gaussian clustering algorithm; (f) extraction effect of Table using improved 3RDP algorithm

    Fig. 9. Algorithm comparison analysis. (a) Original point cloud of Sink; (b) extraction effect of Sink using Gaussian clustering algorithm; (c) extraction effect of Sink using improved 3RDP algorithm; (d) original point cloud of Table; (e) extraction effect of Table using Gaussian clustering algorithm; (f) extraction effect of Table using improved 3RDP algorithm

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    • Table 1. Comparison ofnormal line estimation algorithm and improved RDP algorithm

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      Table 1. Comparison ofnormal line estimation algorithm and improved RDP algorithm

      ObjectOriginal point cloudNormal vector algorithmImproved 3RDP algorithm
      Remaining point cloudRejection rate /%Remaining point cloudRejection rate /%
      Monitor10000536246.38229477.06
      Wardrobe10000462553.75163283.68
      Sink10000431256.88133186.69
      Table10000463253.68309469.06
      Dresser10000593140.69226377.37
      Curtain10000215578.45206479.36
      Cup10000235476.46103989.61
      Cone10000186581.3598890.12
      Stairs10000455154.49282771.73
      Stool10000305669.44154084.60

    • Table 2. Effect of point cloud extraction of 11 targets

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      Table 2. Effect of point cloud extraction of 11 targets

      Serial numberObjectsOriginal point cloudEdge pointRejection rate /%
      1Paper towel8607267868.89
      2Medicine bottle8421246170.78
      3Toner bottle 110814320870.33
      4Pill box14386357075.18
      5Yogurt9204286168.92
      6Toner bottle 28965205877.04
      7Staple box19811680365.66
      8Pen case14074202785.60
      9Ink cartridge13132308376.52
      10Soda water14197203085.70
      11Ink tank10643298571.95

    • Table 3. Comparison of improved 3RDP algorithm and Gaussian clustering algorithm

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      Table 3. Comparison of improved 3RDP algorithm and Gaussian clustering algorithm

      AlgorithmSinkTableRejection rate /%
      Gaussian clustering2710874642.72
      Improved 3RDP1331309477.87
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    Shuai Li, Yuhong Du. Boundary Extraction of Scattered Point Cloud with Normal Estimation Based on Improved 3RDP Algorithm[J]. Laser & Optoelectronics Progress, 2021, 58(16): 1610016

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    Paper Information

    Category: Image Processing

    Received: Oct. 14, 2020

    Accepted: Dec. 27, 2020

    Published Online: Aug. 19, 2021

    The Author Email: Yuhong Du (DYH202@163.com)

    DOI:10.3788/LOP202158.1610016

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology