Researching | Line Primitive Point Cloud Registration Method Based on Dual Quaternion

Acta Optica Sinica, Volume. 39, Issue 12, 1228006(2019)

Line Primitive Point Cloud Registration Method Based on Dual Quaternion

Shuangwu Chai^* and Xiaoqin Yang^**

Author Affiliations

College of Mining Engineering, Taiyuan University of Technology, Taiyuan, Shanxi 030024, China

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Figures&Tables (9)

References (20)

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Figures & Tables(9)

Fig. 1. Diagram of point cloud registration

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Fig. 2. Simplified diagram of point cloud registration

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Fig. 3. Flowchart of point cloud registration algorithm

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Fig. 4. Point cloud data. (a) Unregistrated station; (b) reference station

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Fig. 5. Spatial distributions of homonymous lines. (a) Before registration; (b) after registration

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Fig. 6. Visual effects of proposed method. (a) Before registration; (b) after registration

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Fig. 7. Visual effects after registration. (a) Method in Ref. [12]; (b) method in Ref. [16]

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Table 1. Comparison of results and time consumption of different methods

Table 1. Comparison of results and time consumption of different methods

Method	Proposed method	Method in Ref. [12]	Method in Ref. [16]
λ	1.0009	0.9999	1.0005
φ /(°)	-10.4772	-10.4494	-10.4562
ω /(°)	-7.0829	-7.0653	-7.0710
κ /(°)	28.8969	28.8920	28.8998
X₀ /m	-22.9648	-22.9776	-22.9683
Y₀ /m	29.4204	29.4060	29.4138
Z₀ /m	-2.3315	-2.2842	-2.2975
Time /s	0.1250	0.1460	0.1840

Table 2. Comparison of medium errors of unit vector and moment vector deviations of homonymous lines calculated by different methods after registration

Table 2. Comparison of medium errors of unit vector and moment vector deviations of homonymous lines calculated by different methods after registration

Method	Δl_X	Δl_Y	Δl_Z	Mean squareerror m_Δ_l /m	Δs_X	Δs_Y	Δs_Z	Mean squareerror m_Δ_s /m
	-0.0007	-0.0007	0.0002		0.0064	-0.0126	-0.0077
	0.0000	0.0000	-0.0007		-0.0100	-0.0337	0.0071
	-0.0005	0.0001	0.0000		-0.0086	-0.0091	0.0028
Proposed method	0.0001	0.0001	-0.0001	0.0005	-0.0056	-0.006	-0.0087	0.0247
	0.0000	0.0000	0.0004		0.0069	0.0183	-0.0002
	-0.0001	-0.0003	0.0000		-0.0054	-0.0149	0.0204
	-0.0003	-0.0003	0.0007		0.0255	0.0382	0.0221
	0.0006	0.0005	0.0000		-0.0142	0.012	-0.0097
	-0.0001	0.0001	0.0000		-0.0018	0.0007	-0.0102
	0.0000	-0.0004	0.0000		0.0139	-0.0004	0.0195
Method in Ref. [12]	-0.0002	-0.0002	0.0002	0.0005	0.0136	0.0141	0.0203	0.0254
	0.0000	-0.0001	-0.0002		-0.0009	-0.0129	0.0136
	-0.0005	0.0000	0.0000		0.0000	-0.0100	0.0129
	0.0001	0.0001	-0.0005		-0.0177	-0.0302	-0.0105
	0.0007	0.0007	-0.0001		-0.0154	0.0099	-0.0288
	0.0000	0.0000	0.0003		0.0002	0.0172	-0.0140
	0.0002	-0.0003	0.0000		0.0169	-0.0111	0.0120
Method in Ref. [16]	-0.0001	-0.0001	0.0002	0.0005	0.0067	0.0092	-0.0005	0.0314
	0.0000	0.0000	-0.0002		-0.0080	-0.0174	-0.0078
	-0.0003	0.0001	0.0000		0.0019	-0.0182	0.0016
	0.0002	0.0002	-0.0006		-0.0245	-0.0351	-0.0313

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Shuangwu Chai, Xiaoqin Yang. Line Primitive Point Cloud Registration Method Based on Dual Quaternion[J]. Acta Optica Sinica, 2019, 39(12): 1228006

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Paper Information

Category: Remote Sensing and Sensors

Received: Jul. 12, 2019

Accepted: Sep. 2, 2019

Published Online: Dec. 6, 2019

The Author Email: Chai Shuangwu (2964633881@qq.com), Yang Xiaoqin (yangxiaoqin@tyut.edu.cn)

DOI:10.3788/AOS201939.1228006

Topics

laser devices and laser physics

Lasers and Laser Optics

laser manufacturing

Instrumentation, Measurement and Metrology