Point cloud registration method based on reliable optimal transport

Yuntao ZHAO; Jie HUANG; Weigang LI

doi:10.37188/CJLCD.2023-0221

Chinese Journal of Liquid Crystals and Displays, Volume. 39, Issue 7, 961(2024)

Point cloud registration method based on reliable optimal transport

Yuntao ZHAO^1,2, Jie HUANG^1,2、*, and Weigang LI^1,2

¹Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education，Wuhan University of Science and Technology，Wuhan 430081，China

²College of Information Science and Engineering，Wuhan University of Science and Technology，Wuhan 430081，China

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Figures & Tables(13)

Fig. 1. Flow chart of determination of the initial reliable point

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Fig. 2. Visualization of ISS key points（a）and FPFH（b）

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Fig. 3. Schematic of the optimal transport

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Fig. 4. Schematic of optimal transport for point cloud registration

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Fig. 5. Schematic of update of partial reliable points

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Fig. 6. Registration results of Bunny.（a）Initial position；（b）TrICP；（c）Super-4PCS；（d）SAC coarse registration；（e）SAC+ICP；（f）Our method.

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Fig. 7. Registration results of Dragon.（a）Initial position；（b）TrICP；（c）Super-4PCS；（d）SAC coarse registration；（e）SAC+ICP；（f）Our method.

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Fig. 8. Update of reliable points during the registration.（a），（e）Initial reliable points in the source and target point clouds；（b），（f）Distribution of local seed points，neighborhood points and reliable points to be degraded；（c），（g）Reliable points after updating；（d），（h）Final reliable points distribution.

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Fig. 9. Registration results of Home.（a）Initial position；（b）TrICP；（c）Super-4PCS；（d）SAC coarse registration；（e）SAC+ICP；（f）Our method.

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Fig. 10. Registration results of Redkitchen.（a）Initial position；（b）TrICP；（c）Super-4PCS；（d）SAC coarse registration；（e）SAC+ICP；（f）Our method.

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Table 0. [in Chinese]

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Table 0. [in Chinese]

Algorithm 1 Reliable optimal transport for fine registration

Input：point clouds $P$ and $Q$ ，inline point sets $P_{i n}$ and $Q_{i n}$ ，result of coarse registration $T_{0}$ ，reliable scale $τ$ ，threshold $η$ ；

Output：result of fine registration $T_{1}$ ；

1：initialize reliable point sets $P_{R} = P_{i n}$ and $Q_{R} = Q_{i n}$ ；

2：align $P_{R}$ and $Q_{R}$ according to $T_{0}$ ；

3：Repeat

4： solve the optimal transport plan $ω$ from $P_{R}$ to $Q_{R}$ ；

5： solve the transformation matrix $T_{1}$ from $P_{R}$ to $Q_{R}$ ；

6： respectively update $P_{R}$ from $P$ and $Q_{R}$ from $Q$ according to $ω$ ；

7：Until $η$ is satisfied；

8：Return $T_{1}$ ；

Table 1. Accuracy and running time of Bunny and Dragon

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Table 1. Accuracy and running time of Bunny and Dragon

Method	Bunny000 and Bunny045		Dragon000 and Dragon048
Method	$E_{R M S E}$ /M	Time/s	$E_{R M S E}$ /M	Time/s
TrICP	6.60e-4	8.15	9.68e-4	6.81
Super-4PCS	1.90e-3	24.33	1.24e-3	28.26
SAC	2.88e-3	1.38	1.39e-3	1.21
SAC+ICP	6.92e-4	4.89	7.43e-4	5.50
Ours	4.24e-4	3.87	4.73e-4	3.76

Table 2. Accuracy and running time of Home and Redkitchen

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Table 2. Accuracy and running time of Home and Redkitchen

Method	Home11 and Home12		Redkitchen00 and Redkitchen12
Method	$E_{R M S E}$ /M	Time/s	$E_{R M S E}$ /M	Time/s
TrICP	—	—	—	—
Super-4PCS	2.56e-2	113.03	2.00e-2	126.03
SAC	3.58e-2	1.21	2.52e-2	1.10
SAC+ICP	8.37e-3	6.71	7.95e-3	6.48
Ours	5.68e-3	4.18	5.67e-3	3.76

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Yuntao ZHAO, Jie HUANG, Weigang LI. Point cloud registration method based on reliable optimal transport[J]. Chinese Journal of Liquid Crystals and Displays, 2024, 39(7): 961

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Paper Information

Category: Research Articles

Received: Jun. 25, 2023

Accepted: --

Published Online: Jul. 23, 2024

The Author Email: Jie HUANG (hj15623221218@163.com)

DOI:10.37188/CJLCD.2023-0221

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