Infrared and Laser Engineering, Volume. 50, Issue 12, 20210088(2021)
Multi-source point cloud registration method based on automatically calculating overlap
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Fig. 1. (a) Ideal corresponding points; (b) Nearest distance corresponding points; (c) Convergence curves of algorithms; (d) Distance curves of corresponding points; (e) Slopes between points on the distance curve and the original point; (f) Slope curves of different points
Fig. 6. Point cloud of Maoxian landslide. (a) Image reconstruction point cloud; (b) Laser scanning point cloud
Table 1. MSE and time consumption
View tableView in ArticleTable 1. MSE and time consumption
Point cloud Algorithm MSE Time/s Target：Bunny0°(40 097) Source：Bunny45°(40 256) ICP 0.108 160 4.197 TrICP 0.030 659 4.215 3D-NDT 0.032 507 63.264 4PCS 0.167 862 20.493 CFB-ICP 0.030 626 2.111 Target：Hippo1(30 519) Source：Hippo2(21 935) ICP 0.975 653 3.280 TrICP 0.807 319 12.824 3D-NDT 0.362 541 206.879 4PCS 0.517 493 23.725 CFB-ICP 0.163 100 4.613 Target：TBunny0°(31 327) Source：Bunny45°(40 256) ICP 0.911 277 3.092 TrICP 0.027 214 5.266 3D-NDT 0.029 574 56.107 4PCS 0.149 031 20.975 CFB-ICP 0.027 076 6.755
Table 2. MSE and time consumption after adding noise to Bunny
View tableView in ArticleTable 2. MSE and time consumption after adding noise to Bunny
Point cloud Algorithm MSE Time/s Target：Noise-Bunny0°(80 194) Source：Noise-Bunny45°(80 512) ICP 0.122 026 20.157 TrICP 0.065 855 59.731 3D-NDT 0.151 467 310.675 4PCS 0.157 339 50.478 CFB-ICP 0.065 806 44.103
Table 3. Results comparison of registration for Maoxian landslide
View tableView in ArticleTable 3. Results comparison of registration for Maoxian landslide
Point cloud Algorithm MSE Time/s Target: Laser scanning point cloud of Maoxian landslide (680 764) Source: Image reconstruction point cloud of Maoxian landslide (2 497 335) ICP 36.349 600 17.755 TrICP 1.683 420 40.739 3D-NDT 2.284 381 94.194 4PCS 12.335 440 58.285 CFB-ICP 1.678 910 13.299
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Xin Li, Site Mo, Hua Huang, Shiji Yang. Multi-source point cloud registration method based on automatically calculating overlap[J]. Infrared and Laser Engineering, 2021, 50(12): 20210088
Paper Information
Category: Lasers & Laser optics
Received: Feb. 4, 2021
Accepted: --
Published Online: Feb. 9, 2022
The Author Email: Site Mo (mosite@126.com)
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