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Acta Optica Sinica, Volume. 38, Issue 9, 0911005(2018)

Quick Registration Algorithm of Point Clouds Using Structure Feature

Chang Wang1、*, Qin Shu1、*, Yunxiu Yang2, and Wei Chen2
Author Affiliations
  • 1 College of Electrical Engineering and Information Technology, Sichuan University, Chengdu, Sichuan 610065, China
  • 2 Southwest Institute of Technical Physics, Chengdu, Sichuan 610041, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (12)
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    Cited By (13)
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    Figures & Tables(12)
    Schematic of initial registration

    Fig. 1. Schematic of initial registration

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    Closest point to S point

    Fig. 2. Closest point to S point

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    Initial state of the point clouds

    Fig. 3. Initial state of the point clouds

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    Point cloud Bunny registration results. (a) Algorithm in Ref. [4]; (b) GA+ICP algorithm; (c) GA+Scale-ICP algorithm; (d) QRSF algorithm

    Fig. 4. Point cloud Bunny registration results. (a) Algorithm in Ref. [4]; (b) GA+ICP algorithm; (c) GA+Scale-ICP algorithm; (d) QRSF algorithm

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    Point cloud Horse registration results. (a) Algorithm in Ref. [4]; (b) GA+ICP algorithm; (c) GA+Scale-ICP algorithm; (d) QRSF algorithm

    Fig. 5. Point cloud Horse registration results. (a) Algorithm in Ref. [4]; (b) GA+ICP algorithm; (c) GA+Scale-ICP algorithm; (d) QRSF algorithm

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    Point cloud registration with random missing data points of (a) 5%, (b) 10%, (c) 15%, (d) 20% and (e) 25%

    Fig. 6. Point cloud registration with random missing data points of (a) 5%, (b) 10%, (c) 15%, (d) 20% and (e) 25%

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    Data collected by scanner. (a) Mechanical part A; (b) mechanical part B

    Fig. 7. Data collected by scanner. (a) Mechanical part A; (b) mechanical part B

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    Registration after random loss of 20% data points. (a) Registration by ICP algorithm; (b) registration by Scale-ICP algorithm; (c) registration by QRSF algorithm

    Fig. 8. Registration after random loss of 20% data points. (a) Registration by ICP algorithm; (b) registration by Scale-ICP algorithm; (c) registration by QRSF algorithm

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    • Table 1. Root mean square errors of different registration algorithms

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      Table 1. Root mean square errors of different registration algorithms

      Point cloudERMS /mm
      Algorithm in Ref.[4]GA+ICPGA+Scale-ICPQRSF
      Bunny1.011×10-140.8955.01×10-134.455×10-15
      Horse5.549×10-171.759×10-165.201×10-173.655×10-17

    • Table 2. Registration time using different algorithms with different random lost data points

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      Table 2. Registration time using different algorithms with different random lost data points

      AlgorithmRegistration time with different random lost data points /s
      5%10%15%20%25%
      QRSF0.2110.2290.2490.2550.259
      Scale-ICP10.93111.91011.31311.71412.452
      ICP102.42096.04484.13577.885111.645

    • Table 3. Registration time using different algorithms

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      Table 3. Registration time using different algorithms

      Point cloudAlgorithmRegistration time with different random lost data points /s
      5%10%15%20%25%
      ICP496.511439.2621324.627879.707822.785
      AScale-ICP15.01518.22616.95015.36517.008
      QRSF0.6290.5830.7790.5530.618
      ICP2212.461044.443348.1122454.9772597.634
      BScale-ICP91.666100.552147.12244.474113.152
      QRSF1.7071.8701.6701.7391.313

    • Table 4. Root mean square error of registration after missing data at different ratios

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      Table 4. Root mean square error of registration after missing data at different ratios

      Point cloudAlgorithmERMS,min after missing data at different ratios /mm
      5%10%15%20%25%
      ICP7.50×10-123.37×10-121.204×10-126.57×10-129.65×10-12
      AScale-ICP0.2260.2520.4240.5770.687
      QRSF3.14×10-145.35×10-143.74×10-142.99×10-143.49×10-14
      ICP7.22×10-124.21×10-124.10×10-124.45×10-144.12×10-12
      BScale-ICP0.3330.7361.461.962.42
      QRSF4.14×10-141.41×10-129.19×10-144.64×10-142.49×10-14
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    Chang Wang, Qin Shu, Yunxiu Yang, Wei Chen. Quick Registration Algorithm of Point Clouds Using Structure Feature[J]. Acta Optica Sinica, 2018, 38(9): 0911005

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    Paper Information

    Category: Imaging Systems

    Received: Mar. 22, 2018

    Accepted: May. 2, 2018

    Published Online: May. 9, 2019

    The Author Email:

    DOI:10.3788/AOS201838.0911005

    Topics

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