Abstract
Abstract The common point cloud registration algorithms are usually divided into initial registration and precise registration. In this paper, SAC-IA algorithm, which is commonly used in PCL, is selected for initial registration, and the traditional ICP algorithm is used for accurate registration. Three different feature descriptors (3D shape context, Point Feature Histograms, Fast Point Feature Histograms) are used to realize SAC-IA algorithm and ICP precise registration algorithm. During the implementation of the algorithm, the registration time and registration error of point cloud are calculated; according to the experimental results, the registration time and registration error of SAC-IA algorithm and ICP algorithm based on three different descriptors are compared. The results show that the registration algorithm based on 3D shape context has high accuracy, but the registration time is too long, which is not suitable for a large number of point cloud data; the registration algorithm based on fast point feature histograms has short registration time and good registration effect.
Highlights
With the rapid development of computer-aided design and computer-aided manufacturing technology, reverse engineering technology, which generates digital model through physical model, has been widely concerned
For the rough estimation of the initial transformation matrix, greedy initial registration method has a lot of work, using the point cloud data rotation invariant feature, and the computational complexity is high, so it is necessary to check all possible correspondence of the feature descriptors; in addition, greedy algorithm may fall into the local optimal solution
This chapter mainly realizes the initial registration algorithm of sampling consistency based on three descriptors: 3D shape content descriptors, point feature histogram descriptors and fast point feature histogram descriptors, the optimal results of the initial registration algorithm are obtained by experiments
Summary
With the rapid development of computer-aided design and computer-aided manufacturing technology, reverse engineering technology, which generates digital model through physical model, has been widely concerned. The point cloud data of three-dimensional objects are acquired from different angles by data acquisition equipment for many times, and the point cloud registration algorithm is used to splice the point clouds of various perspectives into the complete point cloud data. The accurate registration is the secondary registration based on the initial transformation matrix, which can get more accurate solution and improve the final registration accuracy. SAC-IA algorithm and ICP accurate registration algorithm based on three different descriptors are selected to perform initial registration and accurate registration for two groups of point cloud. The experimental results are compared to compare the advantages and disadvantages of several different descriptors in the initial registration algorithm and accurate registration algorithm, and the descriptor more suitable for SAC-IA algorithm and ICP algorithm are selected
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
