Chinese Journal of Liquid Crystals and Displays, Volume. 39, Issue 1, 89(2024)
Point cloud registration algorithm based on statistical local feature description and matching
Fig. 2. Schematic diagram of the fitting plane.（a）Curved part；（b）Flat part.
Fig. 5. Bunny model registration under different transformation states
Fig. 6. Bunny model registration under different degrees of data loss
Fig. 7. China Dragon model registration under different noise conditions
Table 1. Registration data of Bunny model under different transformation states
View tableView in ArticleTable 1. Registration data of Bunny model under different transformation states
参数 初始位姿 算 法 ICP 双向ICP Paper1 Paper2 FC-ICP RMSE/10-5 初始位姿良好 8.850 48 2.740 07 0.205 70 0.272 71 1.285 06 e-02 初始位姿较差 9.593 56 7.425 73 0.291 12 0.538 71 1.849 79 e-02 Registration time/s 初始位姿良好 36.087 46.921 35.746 35.931 27.065 初始位姿较差 36.985 48.179 37.955 36.377 26.833
Table 2. Registration data of Bunny model under different degrees of data loss
View tableView in ArticleTable 2. Registration data of Bunny model under different degrees of data loss
参数 数据丢失/% 算 法 ICP 双向ICP Paper1 Paper2 FC-ICP RMSE/10-5 数据丢失10 10.330 80 7.915 48 0.134 07 0.402 47 4.384 41 e-02 数据丢失30 9.836 44 8.714 29 0.188 35 0.548 40 3.625 08 e-02 数据丢失50 7.759 78 5.986 07 0.139 24 0.989 01 4.498 22 e-02 Registration time/s 数据丢失10 36.325 47.255 34.304 30.284 25.348 数据丢失30 30.536 39.150 37.918 27.734 22.498 数据丢失50 23.261 27.965 29.337 24.130 18.280
Table 3. Registration data of China Dragon model under different noise conditions
View tableView in ArticleTable 3. Registration data of China Dragon model under different noise conditions
参数 噪声/mm 算 法 ICP 双向ICP Paper1 Paper2 FC-ICP RMSE/10-5 1 23.005 8 13.485 2 1.348 52 2.497 72 0.170 606 2 28.529 7 15.812 3 1.581 23 1.042 65 0.807 263 3 37.996 5 19.358 3 1.935 83 42.486 6 0.209 657 Registration time/s 1 585.605 719.847 747.709 628.165 450.598 2 644.375 837.688 631.137 639.264 595.188 3 689.756 896.683 676.642 735.510 641.174
Table 4. Registration data of Bottle
View tableView in ArticleTable 4. Registration data of Bottle
参数 算 法 ICP 双向ICP Paper1 Paper2 FC-ICP RMSE/10-5 2.511 73 2.321 22 1.579 20 1.505 13 0.440 62 Registration time/s 27.227 30.518 29.028 28.482 24.527
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Xinmiao WANG, Xinchun LI, Zhiyong TAO. Point cloud registration algorithm based on statistical local feature description and matching[J]. Chinese Journal of Liquid Crystals and Displays, 2024, 39(1): 89
Category: Research Articles
Received: Feb. 12, 2023
Accepted: --
Published Online: Mar. 27, 2024
The Author Email: Xinchun LI (lixinchun@lntu.edu.cn)
