Chinese Optics Letters, Volume. 18, Issue 7, 071001(2020)
Parallel registration algorithm with arbitrary affine transformation
Figures & Tables(9)
Fig. 1. Schematic diagram of the registration process: (a) initial state, (b) point clouds after being whitened, (c) point cloud after registration.
Fig. 2. Comparison of Whitening-ICP with Affine-ICP, CPD, and MDAR on different SNR for the Bunny point cloud. Error bars: registration error means and standard deviations over 100 trials.
Fig. 3. Bunny point cloud registration effect of several algorithms under the condition that the point cloud is affine transformed.
Fig. 4. Face point cloud registration effect of several algorithms under the condition that the point cloud is affine transformed.
Table 1. Registration Effect Under Different Signal-to-Noise Ratios
View tableView in ArticleTable 1. Registration Effect Under Different Signal-to-Noise Ratios
Metric SNR CPD Affine-ICP MDAR Whitening-ICP Ave. Error (mm) 20 0.6834 1.8235 0.9731 0.2641 25 0.6882 1.9111 0.9208 0.3684 30 0.1825 2.3022 0.6375 0.0788 35 0.6237 2.0444 0.8572 0.0612 Ave. Time (s) 20 1219 195.2 43.6 40.3 25 1410 170.9 28.2 52.8 30 1484 344.6 24.9 19.4 35 1330 70.3 41.5 13.4
Table 2. Registration Results on 100 Trials for Face Point Cloud
View tableView in ArticleTable 2. Registration Results on 100 Trials for Face Point Cloud
Metric CPD Affine-ICP PR-GLS MDAR Whitening-ICP Ave. Error (mm) 0.0911 0.4151 0.3803 0.2796 0.1314 Ave. Time (s) 3.5 0.1 35.1 0.6 0.1
Table 3. Registration Results on 50 Trials for Three Actual Objects
View tableView in ArticleTable 3. Registration Results on 50 Trials for Three Actual Objects
Metric Algorithm Bottle Cup Banana Ave. Error (mm) CPD 0.4846 0.3448 0.6374 Affine-ICP 0.7682 0.3102 18.0051 MDAR 1.3873 0.8858 0.4394 Whitening-ICP 0.4036 0.2964 0.4511 Ave. Time (s) CPD 550 902 263 Affine-ICP 129 68.4 294 MDAR 9.8 16.4 7.09 Whitening-ICP 145.4 79.0 51.4
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Qin Shu, Xiuli He, Chang Wang, Yunxiu Yang, "Parallel registration algorithm with arbitrary affine transformation," Chin. Opt. Lett. 18, 071001 (2020)
Paper Information
Category: Lasers and Laser Optics
Received: Apr. 11, 2020
Accepted: Apr. 30, 2020
Posted: May. 6, 2020
Published Online: Jun. 16, 2020
The Author Email: Chang Wang (745472485@qq.com)
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