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Laser & Optoelectronics Progress, Volume. 62, Issue 14, 1428004(2025)

Improved Point Cloud Registration Method for Trajectory Tracking of Ship Unloader Grab

Zhongxuan Bai1, Yue Shen2, and Deming Kong1、*
Author Affiliations
  • 1School of Electrical Engineering, Yanshan University, Qinhuangdao 066004, Hebei , China
  • 2Hebei YSUSOFT Co., Ltd., Qinhuangdao 066000, Hebei , China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (20)
    Equations (7)
    References (26)
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    Paper Information
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    Figures & Tables(20)
    Real object diagram of grab bucket

    Fig. 1. Real object diagram of grab bucket

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    Schematic diagram of ship unloader structure and radar installation position

    Fig. 2. Schematic diagram of ship unloader structure and radar installation position

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    Flowchart of proposed algorithm

    Fig. 3. Flowchart of proposed algorithm

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    Visualization of feature points in grab model of ship unloader

    Fig. 4. Visualization of feature points in grab model of ship unloader

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    Calculation diagram of FPFH descriptors for grab model of ship unloader

    Fig. 5. Calculation diagram of FPFH descriptors for grab model of ship unloader

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    FPFH feature matching of grab data of ship unloader

    Fig. 6. FPFH feature matching of grab data of ship unloader

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    Schematic diagram of registration parameter optimization of FOA

    Fig. 7. Schematic diagram of registration parameter optimization of FOA

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    Dataset data of ship unloader grab. (a) Template; (b) target

    Fig. 8. Dataset data of ship unloader grab. (a) Template; (b) target

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    Bunny dataset data. (a) Template; (b) target

    Fig. 9. Bunny dataset data. (a) Template; (b) target

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    Dragon dataset data. (a) Template; (b) target

    Fig. 10. Dragon dataset data. (a) Template; (b) target

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    Registration performances of Bunny dataset. (a) ICP; (b) FGR-ICP; (c) RANSAC-TrICP; (d) ISSA-ICP; (e) PCR-GW; (f) proposed

    Fig. 11. Registration performances of Bunny dataset. (a) ICP; (b) FGR-ICP; (c) RANSAC-TrICP; (d) ISSA-ICP; (e) PCR-GW; (f) proposed

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    Registration performances of Dragon dataset. (a) ICP; (b) FGR-ICP; (c) RANSAC-TrICP; (d) ISSA-ICP; (e) PCR-GW; (f) proposed

    Fig. 12. Registration performances of Dragon dataset. (a) ICP; (b) FGR-ICP; (c) RANSAC-TrICP; (d) ISSA-ICP; (e) PCR-GW; (f) proposed

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    Registration performances of ship unloader grab dataset. (a) ICP; (b) FGR-ICP; (c) RANSAC-TrICP; (d) ISSA-ICP; (e) PCR-GW; (f) proposed

    Fig. 13. Registration performances of ship unloader grab dataset. (a) ICP; (b) FGR-ICP; (c) RANSAC-TrICP; (d) ISSA-ICP; (e) PCR-GW; (f) proposed

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    Trajectory diagram of grab before and after registration

    Fig. 14. Trajectory diagram of grab before and after registration

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    Movement paths of grab in different directions. (a) X-direction grab path; (b) Y-direction grab path; (c) Z-direction grab path

    Fig. 15. Movement paths of grab in different directions. (a) X-direction grab path; (b) Y-direction grab path; (c) Z-direction grab path

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    RMSE results of continuous registration

    Fig. 16. RMSE results of continuous registration

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    • Table 1. Registration accuracy of Bunny dataset

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      Table 1. Registration accuracy of Bunny dataset

      MethodBun000 and Bun045Bun000 and Bun180Bun000 and Bun270
      RMSEMAERMSEMAERMSEMAE
      ICP5.42×10-22.35×10-24.25×10-21.87×10-25.42×10-22.35×10-2
      FGR-ICP4.25×10-21.86×10-24.25×10-21.86×10-24.29×10-21.87×10-2
      RANSAC-TrICP5.40×10-32.11×10-31.13×10-24.15×10-32.23×10-29.00×10-3
      ISSA-ICP6.47×10-32.77×10-36.47×10-32.80×10-36.51×10-32.79×10-3
      PCR-GW6.50×10-32.77×10-36.47×10-32.81×10-36.51×10-32.78×10-3
      Proposed5.74×10-32.38×10-35.89×10-32.47×10-35.75×10-32.38×10-3

    • Table 2. Registration accuracy of Dragon dataset

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      Table 2. Registration accuracy of Dragon dataset

      MethodDragon000 and Dragon024Dragon000 and Dragon048Dragon000 and Dragon072
      RMSEMAERMSEMAERMSEMAE
      ICP1.76×10-27.75×10-31.74×10-27.74×10-31.75×10-27.75×10-3
      FGR-ICP1.74×10-27.73×10-31.72×10-27.70×10-31.74×10-27.74×10-3
      RANSAC-TrICP5.18×10-31.93×10-35.48×10-32.04×10-38.11×10-32.97×10-3
      ISSA-ICP1.87×10-38.30×10-41.86×10-38.30×10-41.87×10-38.29×10-4
      PCR-GW1.89×10-38.39×10-41.87×10-38.08×10-41.90×10-38.19×10-4
      Proposed1.85×10-38.07×10-41.86×10-38.07×10-41.31×10-35.24×10-4

    • Table 3. Registration accuracy of ship unloader grab dataset

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      Table 3. Registration accuracy of ship unloader grab dataset

      MethodRMSE /mMAE /mTime /s
      ICP0.32760.13120.16
      FGR-ICP0.20880.08463.88
      RANSAC-TrICP0.22820.09781.69
      ISSA-ICP0.03950.01610.56
      PCR-GW0.04360.01750.53
      Proposed0.03670.01450.12

    • Table 4. Performance comparison of FPFH-IFOA-ICP modules

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      Table 4. Performance comparison of FPFH-IFOA-ICP modules

      MethodRMSE /mMAE /m
      FPFH0.15460.0631
      FPFH-IFOA0.05010.0181
      FPFH-IFOA-ICP0.03670.0145
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    Zhongxuan Bai, Yue Shen, Deming Kong. Improved Point Cloud Registration Method for Trajectory Tracking of Ship Unloader Grab[J]. Laser & Optoelectronics Progress, 2025, 62(14): 1428004

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    Paper Information

    Category: Remote Sensing and Sensors

    Received: Dec. 3, 2024

    Accepted: Feb. 7, 2025

    Published Online: Jul. 11, 2025

    The Author Email: Deming Kong (demingkong@ysu.edu.cn)

    DOI:10.3788/LOP242361

    CSTR:32186.14.LOP242361

    Topics

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