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Laser & Optoelectronics Progress, Volume. 61, Issue 22, 2215003(2024)

Color Point-Cloud Registration Algorithm Integrating Shape and Texture

Yuan Zhang1,2,3、*, Zepeng Shi1,2,3, Min Pang1,2,3, Fengguang Xiong1,2,3, and Xiaowen Yang1,2,3
Author Affiliations
  • 1College of Computer Science and Technology , North University of China, Taiyuan 030051, Shanxi , China
  • 2Shanxi Provincial Key Laboratory of Machine Vision and Virtual Reality, Taiyuan 030051, Shanxi , China
  • 3Shanxi Province Visual Information Processing and Intelligent Robot Engineering Research Center, Taiyuan 030051, Shanxi , China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (8)
    Equations (9)
    References (25)
    Cited By (4)
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    Figures & Tables(8)
    Framework of point cloud registration algorithm

    Fig. 1. Framework of point cloud registration algorithm

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    Keypoints extraction effect based on geometric significance

    Fig. 2. Keypoints extraction effect based on geometric significance

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    Keypoints extraction effect based on texture significance

    Fig. 3. Keypoints extraction effect based on texture significance

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    Results of rough registration experiment

    Fig. 4. Results of rough registration experiment

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    Results of precision registration experiment

    Fig. 5. Results of precision registration experiment

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    • Table 1. Error of rough registration experiment

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      Table 1. Error of rough registration experiment

      ModelOverlapping ratioISS+FPFHSAC-IAProposed
      Source point cloud /%Target point cloud /%RRE /（°）RTE /mRRE /（°）RTE /mRRE /（°）RTE /m
      Bookshelf415824.3701.08213.0120.5790.7010.051
      Kitchen58827.0450.228167.7642.9811.5080.079
      Metope745928.2131.9583.2730.0670.5950.056
      White sofa272432.4051.249141.0914.9046.7110.297
      Brown sofa4032141.1166.468170.9056.4173.9150.185
      Black sofa665610.2550.5515.6760.6822.0290.083

    • Table 2. Error of precise registration experiment

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      Table 2. Error of precise registration experiment

      ModelICPNDTGICP6DProposed
      RRE /（°）RTE /mRRE /（°）RTE /mRRE /（°）RTE /mRRE /（°）RTE /m
      Bookshelf14.2270.85414.7990.8478.4310.5502.7510.086
      Kitchen5.6870.27511.9670.4121.9670.1661.0210.041
      Metope11.5570.42112.4150.4771.7830.0750.2900.037
      White sofa133.8375.044132.4505.046150.2245.0921.5650.056
      Brown sofa174.3626.195174.1996.176163.7005.7681.3630.078
      Black sofa2.6650.5212.1700.4122.0390.2320.9360.038

    • Table 3. Registration time comparison

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      Table 3. Registration time comparison

      ModelICPNDTGICP6DProposed
      Average time26.8131.9035.1530.14
      Bookshelf11.5816.7716.7612.97
      Kitchen21.8922.1536.8324.96
      Metope21.6323.0721.4425.67
      White sofa33.0625.0050.0430.27
      Brown sofa39.7935.4247.7844.22
      Black sofa32.9169.0038.0442.75
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    Yuan Zhang, Zepeng Shi, Min Pang, Fengguang Xiong, Xiaowen Yang. Color Point-Cloud Registration Algorithm Integrating Shape and Texture[J]. Laser & Optoelectronics Progress, 2024, 61(22): 2215003

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    Paper Information

    Category: Machine Vision

    Received: Jan. 9, 2024

    Accepted: Mar. 20, 2024

    Published Online: Nov. 20, 2024

    The Author Email: Yuan Zhang (zhangyuan@nuc.edu.cn)

    DOI:10.3788/LOP240489

    CSTR:32186.14.LOP240489

    Topics

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