Three-Dimensional Point Cloud Registration Based on Maximum Sum of Squares of Correlation Coefficients

Changwei Miao; Zhirong Tang; Yingjie Tang

doi:10.3788/LOP56.221504

Laser & Optoelectronics Progress, Volume. 56, Issue 22, 221504(2019)

Three-Dimensional Point Cloud Registration Based on Maximum Sum of Squares of Correlation Coefficients

Changwei Miao^*, Zhirong Tang, and Yingjie Tang

College of Nuclear Technology and Automation Engineering, Chengdu University of Technology, Chengdu, Sichuan 610059, China

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Figures & Tables(7)

Fig. 1. Flowchart of our algorithm

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Fig. 2. Initial state of point cloud for Bunny. (a) With white Gaussian noise; (b) without white Gaussian noise

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Fig. 3. Registration effect of each algorithm for Bunny point cloud. (a) MCC; (b) ICP; (c) Scale-ICP; (d) CPD

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Fig. 4. Initial state of point cloud for mechanical device. (a) Point cloud to be registered; (b) target point cloud

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Fig. 5. Registration effect of each algorithm of point cloud for mechanical device. (a) MCC; (b) ICP; (c) Scale-ICP; (d) CPD

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Table 1. Registration time and error of each algorithm for Bunny point cloud
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Table 1. Registration time and error of each algorithm for Bunny point cloud
Algorithm Time /s RMSE /mm
MCC 7.6 0.2240
ICP 174.5 0.2239
Scale-ICP 8.5 0.2346
CPD 135.0 0.3654

Table 2. Registration time and error of each algorithm for mechanical device
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Table 2. Registration time and error of each algorithm for mechanical device
Algorithm Time /s RMSE /mm
MCC 6.9 0.3508
ICP 76.3 0.3500
Scale-ICP 5.6 20.7587
CPD 108.6 3.0992

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Changwei Miao, Zhirong Tang, Yingjie Tang. Three-Dimensional Point Cloud Registration Based on Maximum Sum of Squares of Correlation Coefficients[J]. Laser & Optoelectronics Progress, 2019, 56(22): 221504

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