Point Set Registration Method Based on Symmetric Kullback-Leibler Divergence

Xiaoyan Yang

doi:10.3788/LOP57.081022

Laser & Optoelectronics Progress, Volume. 57, Issue 8, 081022(2020)

Point Set Registration Method Based on Symmetric Kullback-Leibler Divergence

Xiaoyan Yang^*

Research Center of Electronic Information Technology, School of Electronic and Information Engineering, Ankang University, Ankang, Shaanxi 725000

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Fig. 1. Registration results of different algorithms at outlier ratio of 20%. (a) Original point set; (b) result of KC algorithm; (c) result of CPD algorithm; (d) result of SKL algorithm

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Fig. 2. Registration results of different algorithms at outlier ratio of 80%. (a) Original point set; (b) result of KC algorithm; (c) result of CPD algorithm; (d) result of SKL algorithm

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Fig. 3. Registration results of different algorithms at noise ratio of 20%. (a) Original point set; (b) result of KC algorithm; (c) result of CPD algorithm; (d) result of SKL algorithm

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Fig. 4. Registration results of different algorithms at noise ratio of 80%. (a) Original point set; (b) result of KC algorithm; (c) result of CPD algorithm; (d) result of SKL algorithm

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Fig. 5. Registration accuracy under different outlier ratios. (a) Registration success rate; (b) MSE

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Fig. 6. Registration accuracy under different noise ratios. (a) Registration success rate; (b) MSE

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Xiaoyan Yang. Point Set Registration Method Based on Symmetric Kullback-Leibler Divergence[J]. Laser & Optoelectronics Progress, 2020, 57(8): 081022

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