Point cloud registration based on the dark forest algorithm and its application in coal industry

Abstract

Being sensitive to initial position and noise is the key problem that must be solved in point cloud registration. To improve the overall performance of registration methods, a point cloud registration method based on the Dark Forest Algorithm is proposed in this paper. The introduction of swarm intelligence enhances the adaptability of the registration method to the initial position and improves the robustness of the point cloud registration system. Furthermore, the application of the Dark Forest Algorithm with four capability enhancement strategies: the hierarchical elite, civilization self-decision, suspicion chain, and technology explosion has improved the comprehensive competitiveness in point cloud registration. The mentioned strategies have brought a great positive impact on the registration methods in solving the far initial position, breaking away from the local optimal solution, and weakening the noise interference. The paper aims to provide the Dark Forest Algorithm and the point cloud registration method based on it, which are elaborated on in detail and compared to other existing algorithms to prove the comprehensive performance, respectively. Then, the point cloud registration experiment for coal-wall point clouds was carried out and the results indicate that the proposed registration algorithm is better than other algorithms for standard point cloud dataset and coal-wall point cloud, which demonstrates that the proposed registration method has strong potential competitiveness.