Point Cloud Registration Method for Pipeline Workpieces Based on 4PCS and Improved ICP Algorithms

Abstract

A new point cloud registration method based on 4PCS and improved ICP algorithm is proposed to solve the problem of point cloud registration of laser scanning workpiece position and pose data on industrial pipeline. Firstly, feature points set of point cloud is extracted from normal vector. Then, the rough registration of point cloud is realized by using the registration algorithm based on feature points (4PCS), and the initial recognition of workpiece position and pose is completed. Finally, based on the traditional ICP algorithm, the k-d tree is used to accelerate the search speed of the corresponding point pairs and complete the accurate registration of the point clouds. The proposed algorithm and the 4PCS+ICP algorithm are tested respectively, and the results show that the algorithm is faster, with lower error and fewer iterations.