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Laser & Optoelectronics Progress, Volume. 58, Issue 6, 610002(2021)

Independent Method for Selecting Radius of FPFH Neighborhood in 3D Point Cloud Registration

Zhao Mingfu1,2, Cao Libo1,3, Song Tao1,2, Liu Shuai1, Luo Yuhang1, and Yang Xin1
Author Affiliations
  • 1College of Electrical and Electronic Engineering, Chongqing University of Technology, Chongqing 400054, China
  • 2Chongqing University Engineering Center of Elevator Intelligent Operation and Maintenance, Chongqing 402260, China
  • 3Chongqing Key Laboratory of Optical Fiber Sensing and Photoelectric Detection, Chongqing 400054, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (12)
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    References (18)
    Cited By (8)
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    Figures & Tables(12)
    Optimization algorithm for FPFH feature extraction in point cloud registration

    Fig. 1. Optimization algorithm for FPFH feature extraction in point cloud registration

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    Schematic of circular density calculation

    Fig. 2. Schematic of circular density calculation

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    Local coordinate system

    Fig. 3. Local coordinate system

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    Schematic of FPFH influence range

    Fig. 4. Schematic of FPFH influence range

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    Fitting function between neighborhood radius and registration error under different circular densities

    Fig. 5. Fitting function between neighborhood radius and registration error under different circular densities

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    The optimal function

    Fig. 6. The optimal function

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    Registration results in bunny dataset. (a) Original point cloud and target point cloud; (b) fixed FPFH neighborhood radius; (c) selected FPFH neighborhood radius by the optimal function

    Fig. 7. Registration results in bunny dataset. (a) Original point cloud and target point cloud; (b) fixed FPFH neighborhood radius; (c) selected FPFH neighborhood radius by the optimal function

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    Registration results in dragonStandRight dataset. (a) Original point cloud and target point cloud; (b) fixed FPFH neighborhood radius; (c) selected FPFH neighborhood radius by the optimal function

    Fig. 8. Registration results in dragonStandRight dataset. (a) Original point cloud and target point cloud; (b) fixed FPFH neighborhood radius; (c) selected FPFH neighborhood radius by the optimal function

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    Registration results in happyStandRight dataset. (a) Original point cloud and target point cloud; (b) fixed FPFH neighborhood radius; (c) selected FPFH neighborhood radius by the optimal function

    Fig. 9. Registration results in happyStandRight dataset. (a) Original point cloud and target point cloud; (b) fixed FPFH neighborhood radius; (c) selected FPFH neighborhood radius by the optimal function

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    • Table 1. Registration results of different algorithms in bunny dataset

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      Table 1. Registration results of different algorithms in bunny dataset

      Algorithmk /mICP score /10-6TFPFH+TICP /s
      Manual regulation0.0029.7739014.413+148.463
      0.0069.7164318.774+74.650
      0.0109.8297114.414+79.920
      0.0309.7863014.352+31.745
      0.0509.7727014.238+28.162
      0.0809.8494915.508+41.871
      Proposed algorithmAutomatic selection9.7264815.956+27.636

    • Table 2. Registration results of different algorithms in dragonStandRight dataset

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      Table 2. Registration results of different algorithms in dragonStandRight dataset

      Algorithmk /mICP score /10-6TFPFH+TICP /s
      Manual regulation0.0023.2106716.325+157.907
      0.0063.2249015.727+73.216
      0.0103.2059916.439+75.906
      0.0303.2244019.590+45.493
      0.0503.2033219.463+29.827
      0.0803.1966020.920+32.208
      Proposed algorithmAutomatic selection3.1941517.470+31.801

    • Table 3. Registration results of different algorithms in happyStandRight dataset

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      Table 3. Registration results of different algorithms in happyStandRight dataset

      Algorithmk /mICP score /10-6TFPFH+TICP /s
      Manual regulation0.0026.5335612.620+117.283
      0.0066.573569.713+286.572
      0.0106.5380011.390+72.669
      0.0306.5641512.687+108.061
      0.0506.5351812.068+78.406
      Proposed algorithmAutomatic selection6.5373412.349+62.589
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    Zhao Mingfu, Cao Libo, Song Tao, Liu Shuai, Luo Yuhang, Yang Xin. Independent Method for Selecting Radius of FPFH Neighborhood in 3D Point Cloud Registration[J]. Laser & Optoelectronics Progress, 2021, 58(6): 610002

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    Paper Information

    Category: Image Processing

    Received: Jul. 24, 2020

    Accepted: --

    Published Online: Mar. 11, 2021

    The Author Email:

    DOI:10.3788/LOP202158.0610002

    Topics

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