Point Cloud Registration Method Based on Three-Dimensional Linear Multi-Feature Description

Zhengpeng Zhang; Jianhua Liu; Xinyu Xie; Lijing Bu; Yan Cheng

doi:10.3788/LOP242345

Laser & Optoelectronics Progress, Volume. 62, Issue 12, 1215004(2025)

Point Cloud Registration Method Based on Three-Dimensional Linear Multi-Feature Description

Zhengpeng Zhang¹, Jianhua Liu^1、*, Xinyu Xie², Lijing Bu¹, and Yan Cheng¹

Author Affiliations

¹College of Automation and Electronic Information, Xiangtan University, Xiangtan 411105, Hunan , China

²Great Wall Information Co., Ltd., Changsha 410199, Hunan , China

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Figures & Tables(12)

Fig. 1. Multi-scale curvature points

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Fig. 2. Three-dimensional straight line fitting and extraction. (a) First fit; (b) eliminate outliers; (c) second fitting

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Fig. 3. Multi-feature description of 3D straight lines. (a) Straight line of source point cloud; (a') straight line of target point cloud; (b)(b') angular features; (c)(c') line-line distance feature; (d)(d') point-line distance feature

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Fig. 4. Three-dimensional straight line extraction results

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Fig. 5. Comparative test of point cloud registration

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Fig. 6. Point cloud registration at extreme locations . (a) Upside down 1; (b) upside down 2; (c) sideways; (d) symmetry

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Table 1. Straight line fitting parameters

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Table 1. Straight line fitting parameters

Date	Number of points	Fitting number of key points	First extraction number of points	Second extraction number of points	Number of line
Date 1	35947	1478	906	273	23
Date 2	43467	1777	1306	369	23
Date 3	78056	3274	2575	880	30
Date 4	48485	2151	1537	410	29
Date 5	200000	10017	8817	1632	70
Date 6	200000	10014	5171	1295	110
Date 7	29915	1197	784	250	17
Date 8	200000	10007	8453	1780	68

Table 2. Effect of key point extraction ratio on the registration results

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Table 2. Effect of key point extraction ratio on the registration results

Data	Registration results at extraction ratio of 0.01			Registration results at extraction ratio of 0.05			Registration results at extraction ratio of 0.1
Data	RMSE /（10^-2 m）	Time /s	Point quantity	RMSE /（10^-2 m）	Time /s	Point quantity	RMSE /（10^-2 m）	Time /s	Point quantity
Data 1	0.105	0.33	358	0.050	0.78	1796	0.018	1.25	3593
Data 2	0.088	0.30	433	0.062	0.66	2172	0.028	0.62	4345
Data 3	0.101	0.34	779	0.070	0.51	3902	0.024	0.63	7804
Data 4	0.100	0.33	483	0.082	0.59	2425	0.018	0.71	4847
Data 5	0.066	0.44	2003	0.017	4.52	10000	0.002	14.73	20006
Data 6	0.409	0.49	2002	0.070	140.41	9998			20000
Data 7	0.498	0.30	298	0.012	0.49	1490	0.018	0.52	2984
Data 8	0.065	0.31	2005	0.028	2.47	10000	0.004	4.71	20010

Table 3. Experimental results of point cloud registration

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Table 3. Experimental results of point cloud registration

Date	Algorithm	FS /（10^-5 m）	RMSE /（10^-2 m）	Time /s	Date	Algorithm	FS /（10^-5 m）	RMSE /（10^-2 m）	Time /s
Date 1	3DSC	9.248	0.314	19.38	Date 5	3DSC	4.414	0.202	24.62
	4PCS	3.668	0.261	1.48		4PCS	7.367	0.643	2.72
	FPFH	2.367	0.192	4.71		FPFH	1.609	0.155	11.46
	PFH	3.598	0.240	31.42		PFH	1.621	0.130	55.03
	RANSAC	2.989	0.210	4.29		RANSAC	1.935	0.079	39.08
	SHOT	1.716	0.164	7.19		SHOT	1.772	0.167	14.90
	Ours	0.026	0.050	0.78		Ours	0.003	0.017	4.28
Date 2	3DSC	4.577	0.243	21.22	Date 6	3DSC	599.104	0.789	18.39
	4PCS	7.000	0.244	3.07		4PCS	2424.610	3.209	5.43
	FPFH	9.315	0.204	3.62		FPFH	1.462	0.168	183.61
	PFH	14.723	0.239	13.97		PFH	1.606	0.202	89.68
	RANSAC	5.165	0.151	2.02		RANSAC	1.923	0.079	440.19
	SHOT	7.300	0.158	4.89		SHOT	2.266	0.299	119.94
	Ours	0.045	0.062	0.66		Ours	0.052	0.070	140.41
Date 3	3DSC	0.246	0.060	28.52	Date 7	3DSC	1.611	0.152	23.69
	4PCS	5.574	0.562	3.64		4PCS	3.653	0.498	0.64
	FPFH	1.036	0.056	3.89		FPFH	1.896	0.185	2.67
	PFH	1.293	0.080	9.70		PFH	1.921	0.112	6.86
	RANSAC	1.574	0.093	7.66		RANSAC	1.416	0.054	9.52
	SHOT	1.831	0.105	4.97		SHOT	7.704	0.656	8.88
	Ours	0.092	0.070	0.51		Ours	0.068	0.012	0.49
Date 4	3DSC	0.641	0.141	21.55	Date 8	3DSC	6.783	0.116	30.33
	4PCS	8.198	0.689	0.95		4PCS	5.235	0.486	1.48
	FPFH	1.711	0.192	3.86		FPFH	1.945	0.081	8.90
	PFH	2.147	0.229	20.68		PFH	1.801	0.086	27.12
	RANSAC	1.834	0.114	10.52		RANSAC	2.033	0.084	9.74
	SHOT	1.805	0.184	5.35		SHOT	1.448	0.107	10.23
	Ours	0.081	0.082	0.59		Ours	0.010	0.028	2.47

Table 4. Fine registration experimental results of different methods with ICP

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Table 4. Fine registration experimental results of different methods with ICP

Data	RMSE /m
Data	3DSC+ICP	4PCS+ICP	FPFH+ICP	PFH+ICP	RANSAC+ICP	SHOT+ICP	Ours
Date 1	5.87×10^-6	1.867×10^-6	0.000790	1.855×10^-8	3.504×10^-8	2.003×10^-8	1.081×10^-⁸
Date 2	0.000382	0.000293	0.000382	0.000553	0.000339	0.000265	6.552×10^-⁷
Date 3	0.000258	0.000490	0.000235	0.000258	0.000235	0.000235	4.388×10^-⁷
Date 4	8.592×10^-9	7.832×10^-⁹	1.395×10^-8	2.415×10^-8	9.357×10^-9	1.565×10^-8	3.229×10^-⁶
Date 5	0.00128	0.000655	0.000655	0.000649	0.000653	0.000653	2.048×10^-⁸
Date 6	0.00352	0.00349	0.00347	0.00347	0.00348	0.00347	5.340×10^-⁷
Date 7	1.455×10^-8	2.061×10^-6	2.203×10^-8	1.449×10^-8	1.396×10^-8	1.549×10^-8	4.043×10^-⁷
Date 8	0.000432	0.000432	0.000433	0.000435	0.000432	0.000433	2.471×10^-⁸

Table 5. Compared with the improved point registration methods

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Table 5. Compared with the improved point registration methods

Date	Comparison method	RMSE /（10^-2 m）	Time /s
Date 1	Method 1^［7］	3.751
	Method 2^［8］	6.299
	Method 3^［9］	2.500	3.893
	Method 4^［12］	0.091	0.376
	Method 5^［13］	0.030	1.530
	Method 6^［21］	2.147	4.384
	Method 7^［22］	0.080	11.930
	Method 8^［23］	0.360	4.692
	Ours	0.050	0.281

Table 6. Point cloud registration results at extreme locations

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Table 6. Point cloud registration results at extreme locations

Extreme location	RMSE /（10^-2 m）
Extreme location	3DSC	4PCS	FPFH	PFH	RANSAC	SHOT	Ours
Upside down， see Fig.6 （a）	0.3417	1.1311	0.3874	0.3481	0.1341	0.2078	0.0186
Upside down， see Fig.6 （b）	0.1211	0.7490	0.2871	0.2526	0.1460	0.1600	0.0209
Sideways， see Fig.6（c）	0.2931	0.9552	0.2993	0.2635	0.1899	0.2241	0.0472
Symmetry， see Fig.6（d）	0.2937	0.7380	0.1675	0.2318	0.1813	0.3451	0.0153

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Zhengpeng Zhang, Jianhua Liu, Xinyu Xie, Lijing Bu, Yan Cheng. Point Cloud Registration Method Based on Three-Dimensional Linear Multi-Feature Description[J]. Laser & Optoelectronics Progress, 2025, 62(12): 1215004

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Paper Information

Category: Machine Vision

Received: Nov. 28, 2024

Accepted: Dec. 12, 2024

Published Online: Jun. 10, 2025

The Author Email: Jianhua Liu (202221623122@smail.xtu.edu.cn)

DOI:10.3788/LOP242345

CSTR:32186.14.LOP242345

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology