Fast Registration of Point Cloud Based on Custom Semantic Extraction.

Abstract

With the increase in the amount of 3D point cloud data and the wide application of point cloud registration in various fields, the question of whether it is possible to quickly extract the key points of registration and perform accurate coarse registration has become a question to be urgently answered. In this paper, we proposed a novel semantic segmentation algorithm that enables the extracted feature point cloud to have a clustering effect for fast registration. First of all, an adaptive technique was proposed to determine the domain radius of a local point. Secondly, the feature intensity of the point is scored through the regional fluctuation coefficient and stationary coefficient calculated by the normal vector, and the high feature region to be registered is preliminarily determined. In the end, FPFH is used to describe the geometric features of the extracted semantic feature point cloud, so as to realize the coarse registration from the local point cloud to the overall point cloud. The results show that the point cloud can be roughly segmented based on the uniqueness of semantic features. The use of a semantic feature point cloud can make the point cloud have a very fast response speed based on the accuracy of coarse registration, almost equal to that of using the original point cloud, which is conducive to the rapid determination of the initial attitude.