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Acta Optica Sinica, Volume. 38, Issue 2, 0210003(2018)

Removal Method of Mismatching Keypoints in 3D Point Cloud

Fengguang Xiong, Wang Huo, Xie Han*, and Liqun Kuang
Author Affiliations
  • School of Computer Science and Technology, North University of China, Taiyuan, Shanxi 030051, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (16)
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    References (25)
    Cited By (13)
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    Figures & Tables(16)
    Keypoint matching process of general method

    Fig. 1. Keypoint matching process of general method

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    Keypoint matching process of proposed method

    Fig. 2. Keypoint matching process of proposed method

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    Sketch map of intersection angle

    Fig. 3. Sketch map of intersection angle

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    Examples of 3D point cloud. (a) Bunny'; (b) Bunny″; (c) Armadillo' ; (d) Armadillo″; (e) chef; (f) rs1; (g) rs4; (h) bun000; (i) bun045; (j) top2; (k) bun180

    Fig. 4. Examples of 3D point cloud. (a) Bunny'; (b) Bunny″; (c) Armadillo' ; (d) Armadillo″; (e) chef; (f) rs1; (g) rs4; (h) bun000; (i) bun045; (j) top2; (k) bun180

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    State chart of 3D point cloud

    Fig. 5. State chart of 3D point cloud

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    Matching graphs between Bunny' and Bunny″. (a) Matching by NN algorithm; (b) matching by RANSAC algorithm; (c) matching by proposed algorithm

    Fig. 6. Matching graphs between Bunny' and Bunny″. (a) Matching by NN algorithm; (b) matching by RANSAC algorithm; (c) matching by proposed algorithm

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    Matching graphs between Armadillo' and Armadillo″. (a) Matching by NN algorithm; (b) matching by RANSAC algorithm; (c) matching by proposed algorithm

    Fig. 7. Matching graphs between Armadillo' and Armadillo″. (a) Matching by NN algorithm; (b) matching by RANSAC algorithm; (c) matching by proposed algorithm

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    Matching graphs between chef and rs1. (a) Matching by NN algorithm; (b) matching by RANSAC algorithm; (c) matching by proposed algorithm

    Fig. 8. Matching graphs between chef and rs1. (a) Matching by NN algorithm; (b) matching by RANSAC algorithm; (c) matching by proposed algorithm

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    Matching graphs between chef and rs4. (a) Matching by NN algorithm; (b) matching by RANSAC algorithm; (c) matching by proposed algorithm

    Fig. 9. Matching graphs between chef and rs4. (a) Matching by NN algorithm; (b) matching by RANSAC algorithm; (c) matching by proposed algorithm

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    Matching graphs of bun045 and bun000. (a) Matching by NN algorithm; (b) matching by RANSAC algorithm; (c) matching by proposed algorithm

    Fig. 10. Matching graphs of bun045 and bun000. (a) Matching by NN algorithm; (b) matching by RANSAC algorithm; (c) matching by proposed algorithm

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    Matching graphs of top2 and bun180. (a) Matching by NN algorithm; (b) matching by RANSAC algorithm; (c) matching by proposed algorithm

    Fig. 11. Matching graphs of top2 and bun180. (a) Matching by NN algorithm; (b) matching by RANSAC algorithm; (c) matching by proposed algorithm

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    • Table 1. Information about points in the 3D point cloud and the time of removing keypoints on the edge

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      Table 1. Information about points in the 3D point cloud and the time of removing keypoints on the edge

      Point cloudNumber of original pointsNumber of edge pointsRate of edge points /%Number of initial keypointsNumber of final keypointsRatio of removal /%Time of removal /msEfficiency of removal /ms
      Bunny'3594710132.822713156442.355770.016
      Bunny″359478252.302508182027.436240.017
      Armadillo'1729748360.4877144342.5431200.018
      Armadillo″1729741880.117026566.5532320.019
      chef17692013140.7483567019.7637080.021
      rs11143641320311.54139429179.1232460.028
      rs4135666131139.67116233171.5133340.026
      bun0004025623455.83113550855.2414120.035
      bun0454009725146.2799334864.9513990.035
      top23829829757.7797533166.0513050.034
      bun1804025123935.95115146459.6913760.034

    • Table 2. Matching results between complete 3D point cloud and complete 3D point cloud

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      Table 2. Matching results between complete 3D point cloud and complete 3D point cloud

      Point cloud 1Point cloud 2AlgorithmNumber of correct matching pairsNumber of all matching pairsError of rotationError of translation
      Bunny'Bunny″NN25316.09814.364
      RANSAC330.1970.344
      Proposed16160.1810.109
      Armadillo'Armadillo″NN961122.1268.574
      RANSAC231.1071.668
      Proposed77770.2850.188

    • Table 3. Matching results between complete 3D point cloud and 3D point cloud with clutter and occlusion

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      Table 3. Matching results between complete 3D point cloud and 3D point cloud with clutter and occlusion

      Point cloud 1Point cloud 2AlgorithmNumber of correct matching pairsNumber of all matching pairsError of rotationError of translation
      chefrs1NN1558104.0801447.870
      RANSAC0332.585426.013
      Proposed12121.48918.945
      chefrs4NN207288.5191245.380
      RANSAC039.911159.958
      Proposed993.16743.351

    • Table 4. Matching results between partial 3D point cloud and partial 3D point cloud

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      Table 4. Matching results between partial 3D point cloud and partial 3D point cloud

      Point cloud 1Point cloud 2AlgorithmNumber of correct matching pairsNumber of all matching pairsError of rotationError of translation
      bun045bun000NN49972.55405.385
      RANSAC037.900011.378
      Proposed20200.71600.962
      top2bun180NN126131.909075.135
      RANSAC2395.4290158.701
      Proposed670.52030.875

    • Table 5. Comparison of matching time

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      Table 5. Comparison of matching time

      Point cloud 1Point cloud 2AlgorithmTime of keypoint matching /ms
      Bunny'Bunny″NN3343
      RANSAC9294
      Proposed4550
      Armadillo'Armadillo″NN10234
      RANSAC22680
      Proposed16692
      chefrs1NN15369
      RANSAC20570
      Proposed22332
      chefrs4NN15248
      RANSAC23031
      Proposed21298
      bun045bun000NN4699
      RANSAC14203
      Proposed6518
      top2bun180NN4413
      RANSAC10368
      Proposed7097
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    Fengguang Xiong, Wang Huo, Xie Han, Liqun Kuang. Removal Method of Mismatching Keypoints in 3D Point Cloud[J]. Acta Optica Sinica, 2018, 38(2): 0210003

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    Paper Information

    Category: Image Processing

    Received: Aug. 30, 2017

    Accepted: --

    Published Online: Aug. 30, 2018

    The Author Email: Han Xie (hanxie@nuc.edu.cn)

    DOI:10.3788/AOS201838.0210003

    Topics

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