Three-Dimensional Point Cloud Registration Algorithm Based on <italic>l 
            <sup>p</sup></italic> Spatial Mechanics Model

Min Zhao; Qin Shu; Wei Chen; Yunxiu Yang

doi:10.3788/AOS201838.1010005

Acta Optica Sinica, Volume. 38, Issue 10, 1010005(2018)

Three-Dimensional Point Cloud Registration Algorithm Based on l ^p Spatial Mechanics Model

Min Zhao^1、*, Qin Shu^1、*, Wei Chen², and Yunxiu Yang²

Author Affiliations

¹ College of Electrical Engineering and Information Technology, Sichuan University, Chengdu, Sichuan 610065, China

² Southwest Institute of Technical Physics, Chengdu, Sichuan 610041, China

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Figures & Tables(8)

Fig. 1. (a) Eigenvector set FP of target point cloud P'; (b) eigenvector set FQ of source point cloud Q'

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Fig. 2. Registration results of Bunny. (a) Original point cloud; (b) initial registration by algorithm in Ref. [26]; (c) precise registration by algorithm in Ref. [26]; (d) initial registration by proposed algorithm; (e) precise registration by proposed algorithm; (f) registration by classic ICP algorithm

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Fig. 3. Registration results of Dragon. (a) Original point cloud; (b) initial registration by algorithm in Ref. [26]; (c) precise registration by algorithm in Ref. [26]; (d) initial registration by the proposed algorithm; (e) precise registration by proposed algorithm; (f) registration by classic ICP algorithm

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Fig. 4. Multi-view 3D point cloud data of part model

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Fig. 5. Registration results of part. (a) Original point cloud; (b) initial registration by algorithm in Ref. [26]; (c) precise registration by algorithm in Ref. [26]; (d) initial registration by proposed algorithm; (e) precise registration by proposed algorithm; (f) registration by classic ICP algorithm

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Fig. 6. Registration result of milk & cleanser. (a) Original point cloud; (b) initial registration by proposed algorithm; (c) precise registration by proposed algorithm

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Table 1. Point cloud registration data comparison
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Table 1. Point cloud registration data comparison
Algorithm t /s MSE /mm
Bunny Dragon Bunny Dragon
Classic ICP algorithm 58.65 73.22 0.27 3.83
Algorithm in Ref. [26] 41.16 49.60 0.082 0.15
Proposed algorithm 16.71 13.35 0.029 0.087

Table 2. Point cloud registration data comparison
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Table 2. Point cloud registration data comparison
Algorithm Point number of p, q t /s MSE /mm
Classic ICP algorithm 102.39 2.593
Algorithm in Ref. [26] 74537 78581 72.57 0.452
Proposed algorithm 23.74 0.148

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Min Zhao, Qin Shu, Wei Chen, Yunxiu Yang. Three-Dimensional Point Cloud Registration Algorithm Based on l ^p Spatial Mechanics Model [J]. Acta Optica Sinica, 2018, 38(10): 1010005

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