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Laser & Optoelectronics Progress, Volume. 59, Issue 16, 1610005(2022)

Point Cloud Coarse Registration Algorithm Based on Two-Stage Coordinate Transformation

Siyuan Li1, Jin Liu1、*, Haima Yang2, and Haishan Liu1
Author Affiliations
  • 1School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
  • 2School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (13)
    Equations (16)
    References (21)
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    Figures & Tables(13)
    Vertical registration process

    Fig. 1. Vertical registration process

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    Horizontal registration process

    Fig. 2. Horizontal registration process

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    Experimental setup for point cloud measurement

    Fig. 3. Experimental setup for point cloud measurement

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    Experiment results of Bunny point cloud

    Fig. 4. Experiment results of Bunny point cloud

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    Experiment results of Horse point cloud

    Fig. 5. Experiment results of Horse point cloud

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    Experiment results of Cochlea point cloud

    Fig. 6. Experiment results of Cochlea point cloud

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    Registration results of different algorithms. (a) Time; (b) RMSE

    Fig. 7. Registration results of different algorithms. (a) Time; (b) RMSE

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    Point cloud S and point cloud T

    Fig. 8. Point cloud S and point cloud T

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    Coarse registration process

    Fig. 9. Coarse registration process

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    Registration result

    Fig. 10. Registration result

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    • Table 1. Comparison of Bunny point cloud registration of different algorithms

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      Table 1. Comparison of Bunny point cloud registration of different algorithms

      Point cloudAlgorithmTime /sRMSE /mm
      BunnyProposed algorithm4.2261.897×10-8
      PFH algorithm34.7967.239×10-7
      FPFH algorithm13.1621.443×10-6
      3DSC algorithm51.5879.741×10-9

    • Table 2. Comparison of Horse point cloud registration of different algorithms

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      Table 2. Comparison of Horse point cloud registration of different algorithms

      Point cloudAlgorithmTime /sRMSE /mm
      HorseProposed algorithm4.2569.296×10-9
      PFH algorithm44.9761.239×10-7
      FPFH algorithm22.5566.443×10-7
      3DSC algorithm102.72.392×10-10

    • Table 3. Comparison of Cochlea point cloud registration of different algorithms

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      Table 3. Comparison of Cochlea point cloud registration of different algorithms

      Point cloudAlgorithmTime /sRMSE /mm
      CochleaProposed algorithm5.382.457×10-9
      PFH algorithm23.8121.744×10-2
      FPFH algorithm19.9873.806×10-2
      3DSC algorithm52.1894.744×10-9
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    Siyuan Li, Jin Liu, Haima Yang, Haishan Liu. Point Cloud Coarse Registration Algorithm Based on Two-Stage Coordinate Transformation[J]. Laser & Optoelectronics Progress, 2022, 59(16): 1610005

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    Paper Information

    Category: Image Processing

    Received: May. 20, 2021

    Accepted: Jun. 27, 2021

    Published Online: Jul. 22, 2022

    The Author Email: Jin Liu (flyingpine@sina.com)

    DOI:10.3788/LOP202259.1610005

    Topics

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