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Laser & Optoelectronics Progress, Volume. 58, Issue 4, 0415008(2021)

Registration and Optimization Algorithm of Key Points in Three-Dimensional Point Cloud

Tao Song1,2、*, Libo Cao1,3、*, Mingfu Zhao1,2, Shuai Liu1, Yuhang Luo1, and Xin Yang1
Author Affiliations
  • 1College of Electrical and Electronic Engineering, Chongqing University of Technology, Chongqing 400054, China
  • 2Elevator Intelligent Operation and Maintenance Chongqing Universities Engineering Center, Chongqing 402260, China
  • 3Optical Fiber Sensing and Photoelectric Detection Chongqing Key Laboratory, Chongqing 400054, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (11)
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    References (26)
    Cited By (4)
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    Figures & Tables(11)
    Flow chart of the 3D point cloud registration algorithm

    Fig. 1. Flow chart of the 3D point cloud registration algorithm

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    Registration flow chart of our algorithm

    Fig. 2. Registration flow chart of our algorithm

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    Schematic diagram of the selecting edge points of the 3D point cloud

    Fig. 3. Schematic diagram of the selecting edge points of the 3D point cloud

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    Local coordinate system

    Fig. 4. Local coordinate system

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    Scope of influence of the descriptor

    Fig. 5. Scope of influence of the descriptor

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    Image of the original 3D point cloud. (a) bun_zipper; (b) bun_zipper_tran; (c) bun_zipper_res2; (d) bun_zipper_res2_tran; (e) Armadilloside_60; (f) Armadilloside_90; (g) happySideRight_0; (h) happySideRight_24

    Fig. 6. Image of the original 3D point cloud. (a) bun_zipper; (b) bun_zipper_tran; (c) bun_zipper_res2; (d) bun_zipper_res2_tran; (e) Armadilloside_60; (f) Armadilloside_90; (g) happySideRight_0; (h) happySideRight_24

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    3D point cloud with edge detection and removal of key points on the edge. (a) Result of the extraction of key points; (b) result of the edge detection; (c) result of the removing key points of the edge

    Fig. 7. 3D point cloud with edge detection and removal of key points on the edge. (a) Result of the extraction of key points; (b) result of the edge detection; (c) result of the removing key points of the edge

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    Result of the complete point cloud registration optimization. (a) Our algorithm; (b) traditional algorithm

    Fig. 8. Result of the complete point cloud registration optimization. (a) Our algorithm; (b) traditional algorithm

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    Result of partial point cloud registration optimization. (a) Our algorithm; (b) traditional algorithm

    Fig. 9. Result of partial point cloud registration optimization. (a) Our algorithm; (b) traditional algorithm

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    • Table 1. Results of the key points selection and edge point elimination

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      Table 1. Results of the key points selection and edge point elimination

      Point cloudOriginal pointDetection key pointDetection edge pointRemove edge key point
      bun_zipper35947479337172
      bun_zipper_tran3594747914848226
      bun_zipper_res28171107163730
      bun_zipper_res2_tran8171107285345
      Armadilloside_602048005668917352
      Armadilloside_902048006529706371
      happySideRight_01646047189629266
      happySideRight_241547006329348258

    • Table 2. Error scores and time after registration of the two algorithms

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      Table 2. Error scores and time after registration of the two algorithms

      AlgorithmTraditional algorithmOur algorithm
      Error scoreTime /sError scoreTime /s
      Fig. 6(a) and Fig. 6(b)2.40371×10-122.468811.47501×10-121.63467
      Fig. 6(c) and Fig. 6(d)2.41583×10-120.483331.29984×10-130.03180
      Fig. 6(e) and Fig. 6(f)6.52757×10-61.104154.14221×10-60.29744
      Fig. 6(g) and Fig. 6(h)1.52925×10-62.707511.08890×10-60.68695
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    Tao Song, Libo Cao, Mingfu Zhao, Shuai Liu, Yuhang Luo, Xin Yang. Registration and Optimization Algorithm of Key Points in Three-Dimensional Point Cloud[J]. Laser & Optoelectronics Progress, 2021, 58(4): 0415008

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    Paper Information

    Category: Machine Vision

    Received: Jul. 4, 2020

    Accepted: Aug. 13, 2020

    Published Online: Feb. 22, 2021

    The Author Email: Song Tao (easton.cao@foxmail.com), Cao Libo (easton.cao@foxmail.com)

    DOI:10.3788/LOP202158.0415008

    Topics

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