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Laser & Optoelectronics Progress, Volume. 56, Issue 1, 011203(2019)

Three-Dimensional Point Cloud Registration Based on Independent Component Analysis

Ming Liu1, Qin Shu1、*, Yunxiu Yang2, and Fei Yuan2
Author Affiliations
  • 1 School of Electrical Engineering and Information, Sichuan University, Chengdu, Sichuan 610065, China
  • 2 Southwest Institute of Technical Physics, Chengdu, Sichuan 610041, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (11)
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    References (25)
    Cited By (8)
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    Figures & Tables(11)
    Flow chart of proposed algorithm

    Fig. 1. Flow chart of proposed algorithm

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    Point cloud of Bunny. (a) Independent component feature graph of original point cloud; (b) independent component feature graph of unregistered point cloud

    Fig. 2. Point cloud of Bunny. (a) Independent component feature graph of original point cloud; (b) independent component feature graph of unregistered point cloud

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    Registration of Bunny.(a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm

    Fig. 3. Registration of Bunny.(a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm

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    Point cloud of Elephant. (a) Independent component feature graph of original point cloud; (b) independent component feature graph of unregistered point cloud

    Fig. 4. Point cloud of Elephant. (a) Independent component feature graph of original point cloud; (b) independent component feature graph of unregistered point cloud

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    Registration of Elephant. (a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm

    Fig. 5. Registration of Elephant. (a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm

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    Point cloud registration after adding noise. (a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm

    Fig. 6. Point cloud registration after adding noise. (a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm

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    Registration of spare part. (a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm

    Fig. 7. Registration of spare part. (a) Pre-registration point cloud; (b) registration by the proposed algorithm; (c) registration by scale-ICP algorithm; (d) registration by CPD algorithm; (e) registration by classic ICP algorithm

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    Point cloud of spare part. (a) Independent component feature graph of original point cloud; (b) independent component feature graph of unregistered point cloud

    Fig. 8. Point cloud of spare part. (a) Independent component feature graph of original point cloud; (b) independent component feature graph of unregistered point cloud

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    • Table 1. Comparison of point cloud registrations with different algorithms

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      Table 1. Comparison of point cloud registrations with different algorithms

      Point cloudAlgorithmTime /sMSE /mm
      BunnyICP53.4760.195
      CPD algorithm28.4731.098×10-10
      Scale-ICP algorithm6.6958.439×10-15
      Proposed algorithm0.8311.625×10-28
      ElephantICP38.4050.014
      CPD algorithm21.0551.1577×10-8
      Scale-ICP algorithm5.7247.559×10-16
      Proposed algorithm0.4732.246×10-30

    • Table 2. Comparison of point cloud registrations after adding noise

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      Table 2. Comparison of point cloud registrations after adding noise

      AlgorithmTime /sMSE /mm
      ICP67.3520.2687
      CPD algorithm37.4270.1021
      Scale-ICP algorithm11.9460.1301
      Proposed algorithm0.9740.1025

    • Table 3. Comparison of point cloud registrations of spare part

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      Table 3. Comparison of point cloud registrations of spare part

      AlgorithmTime /sMSE /mm
      ICP196.3520.385
      CPD algorithm124.4273.0605×10-14
      Scale-ICP algorithm102.8573.4667×10-11
      Proposed algorithm2.5349.019×10-22
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    Ming Liu, Qin Shu, Yunxiu Yang, Fei Yuan. Three-Dimensional Point Cloud Registration Based on Independent Component Analysis[J]. Laser & Optoelectronics Progress, 2019, 56(1): 011203

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    Paper Information

    Category: Instrumentation, Measurement and Metrology

    Received: Jun. 26, 2018

    Accepted: Jul. 18, 2018

    Published Online: Aug. 1, 2019

    The Author Email: Qin Shu (shuchin@163.com)

    DOI:10.3788/LOP56.011203

    Topics

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