Comparison of Point Cloud Registration Methods in Coarse Registration

Bin Hou; Shangzhong Jin; Yun Wang; Zhihui Cheng; Xinyi Cao

doi:10.3788/LOP57.081502

Laser & Optoelectronics Progress, Volume. 57, Issue 8, 081502(2020)

Comparison of Point Cloud Registration Methods in Coarse Registration

Bin Hou^1、*, Shangzhong Jin^1,2、**, Yun Wang¹, Zhihui Cheng¹, and Xinyi Cao¹

Author Affiliations

¹College of Optical and Electronic Science, China Jiliang University, Hangzhou, Zhejiang 310018, China

²Key Laboratory of Zhejiang Province on Modern Measurement Technology and Instruments, Hangzhou, Zhejiang 310018, China 310018, China

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Figures & Tables(13)

Fig. 1. Point cloud model. (a)(b) Bunny at different angles; (c)(d) Dragon at different angles; (e)(f) Happy at different angles

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Fig. 2. Registration effect of Bunny point cloud. (a) 3DSC; (b) PFH; (c) FPFH; (d) NDT; (e) ICP; (f) 4PCS

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Fig. 3. Registration effect of Dragon point cloud. (a) 3DSC; (b) PFH; (c) FPFH; (d) NDT; (e) ICP; (f) 4PCS

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Fig. 4. Registration effect of Happy point cloud. (a) 3DSC; (b) PFH; (c) FPFH; (d) NDT; (e) ICP; (f) 4PCS

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Fig. 5. Point cloud registration accuracy. (a) Comparison of rotation accuracy on the x axis; (b) comparison of rotation accuracy on the y axis; (c) comparison of rotation accuracy on the z axis; (d) comparison of translation accuracy on the x axis; (e) comparison of translation accuracy on the y axis; (f) comparison of translation accuracy on the z axis

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Table 1. System environment configuration
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Table 1. System environment configuration
Name Configuration
CPU Inter(R) Core(TM) i5-7300HQCPU 2.50 GHZ
RAM 8.00 G
Operating system Microsoft Window 10
Debugging environment Microsoft Visual Studio 2013
Third party library PCL 1.7.2

Table 2. Registration times
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Table 2. Registration times
Registration algorithm Bunny Dragon Happy
3DSC 166.808 179.130 176.349
PFH 33.577 16.615 8.838
FPFH 7.214 5.100 3.562
NDT 120.975 41.197 54.498
ICP 0.450 0.197 0.401
4PCS 373.231 344.641 347.600

Table 3. Rotation angle error of Bunny point cloud on the x, y, and z axis

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Table 3. Rotation angle error of Bunny point cloud on the x, y, and z axis

Registrationalgorithm	x-axisrotationerror /(°)	y-axisrotationerror /(°)	z-axisrotationerror /(°)
3DSC	0.034515	0.081468	0.104313
PFH	0.138971	0.058927	0.074916
FPFH	0.023005	0.009067	0.313266
NDT	0.143152	0.085159	0.068617
ICP	0.991003	0.419185	1.142622
4PCS	0.090667	0.077507	0.292008

Table 4. Rotation angle error of Dragon point cloud on the x, y, and z axis

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Table 4. Rotation angle error of Dragon point cloud on the x, y, and z axis

Registrationalgorithm	x-axisrotationerror /(°)	y-axisrotationerror /(°)	z-axisrotationerror /(°)
3DSC	0.001644	0.423961	0.741546
PFH	0.008555	0.419259	0.768035
FPFH	0.017583	0.403607	0.815591
NDT	0.101121	0.460063	1.075075
ICP	0.063309	0.277009	0.756355
4PCS	0.037944	0.415443	0.784269

Table 5. Rotation angle error of Happy point cloud on the x, y, and z axis

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Table 5. Rotation angle error of Happy point cloud on the x, y, and z axis

Registrationalgorithm	x-axisrotationerror /(°)	y-axisrotationerror /(°)	z-axisrotationerror /(°)
3DSC	0.232867	0.213501	0.740605
PFH	0.163750	0.020620	0.642075
FPFH	0.224111	0.035201	0.802984
NDT	1.572930	1.550770	0.787526
ICP	0.136925	0.174513	0.732324
4PCS	0.027133	0.341683	0.785396

Table 6. Translation distance error of Bunny point cloud on the x, y, and z axis

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Table 6. Translation distance error of Bunny point cloud on the x, y, and z axis

Registrationalgorithm	x-axistranslationerror /mm	y-axistranslationerror /mm	z-axistranslationerror /mm
3DSC	0.704254	0.300157	0.195203
PFH	0.716919	0.296079	0.208742
FPFH	0.690379	0.309533	0.193855
NDT	0.704577	0.290671	0.211123
ICP	0.624948	0.311314	0.141410
4PCS	0.685978	0.318527	0.190419

Table 7. Translation distance error of Dragon point cloud on the x, y, and z axis

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Table 7. Translation distance error of Dragon point cloud on the x, y, and z axis

Registrationalgorithm	x-axistranslationerror /mm	y-axistranslationerror /mm	z-axistranslationerror /mm
3DSC	0.006429	0.296806	0.198664
PFH	0.001024	0.302251	0.200578
FPFH	0.001999	0.299705	0.201195
NDT	0.017200	0.297122	0.208962
ICP	0.002499	0.300879	0.194551
4PCS	0.002422	0.292338	0.196441

Table 8. Translation distance error of Happy point cloud on the x, y, and z axis

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Table 8. Translation distance error of Happy point cloud on the x, y, and z axis

Registrationalgorithm	x-axistranslationerror /mm	y-axistranslationerror /mm	z-axistranslationerror /mm
3DSC	0.019926	0.293849	0.213958
PFH	0.039929	0.291362	0.206794
FPFH	0.010529	0.309017	0.213628
NDT	0.007608	0.276117	0.183919
ICP	0.016240	0.299706	0.203684
4PCS	0.000684	0.294896	0.196272

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Bin Hou, Shangzhong Jin, Yun Wang, Zhihui Cheng, Xinyi Cao. Comparison of Point Cloud Registration Methods in Coarse Registration[J]. Laser & Optoelectronics Progress, 2020, 57(8): 081502

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Paper Information

Category: Machine Vision

Received: Jul. 29, 2019

Accepted: Sep. 17, 2019

Published Online: Apr. 3, 2020

The Author Email: Bin Hou (1377456979@qq.com), Shangzhong Jin (jinsz@cjlu.edu.cn)

DOI:10.3788/LOP57.081502

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. System environment configuration

Table 1. System environment configuration

Table 2. Registration times

Table 2. Registration times

Table 3. Rotation angle error of Bunny point cloud on the x, y, and z axis

Table 3. Rotation angle error of Bunny point cloud on the x, y, and z axis

Table 4. Rotation angle error of Dragon point cloud on the x, y, and z axis

Table 4. Rotation angle error of Dragon point cloud on the x, y, and z axis

Table 5. Rotation angle error of Happy point cloud on the x, y, and z axis

Table 5. Rotation angle error of Happy point cloud on the x, y, and z axis

Table 6. Translation distance error of Bunny point cloud on the x, y, and z axis

Table 6. Translation distance error of Bunny point cloud on the x, y, and z axis

Table 7. Translation distance error of Dragon point cloud on the x, y, and z axis

Table 7. Translation distance error of Dragon point cloud on the x, y, and z axis

Table 8. Translation distance error of Happy point cloud on the x, y, and z axis

Table 8. Translation distance error of Happy point cloud on the x, y, and z axis