Abstract
The efficiency and accuracy of point set registration is always a challenge to deal with. In this paper, we propose an improved algorithm using a scale invariant feature extracted. The larger transformation scale and rotation angle cause lower registration accuracy. The initial corresponding point set can be obtained using a scale invariant feature transform (SIFT) operator. In addition, the geometric features of the points are combined to remove the wrong points. The unit quaternion algorithm is used to estimate the best rigid body transformation matrix for precise registration. The experiments show that the registration accuracy increases by 7.99%, while the time consumption decreased by 6.24% in a typical indoor scene.
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