Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 1
285-290

Point cloud with low feature recognition registration method based on neighborhood curvature

Xiong Fengwei1
Zhuang Jian1
Shen Ren2
1. School of Mechanical Engineering, Xi 'an Jiaotong University, Xi 'an 710049, China
2. Hangzhou Inflow Information Technology Co. , Ltd. , Hangzhou 311199, China
DOI: 10.19734/j.issn.1001-3695.2021.05.0206

Abstract

In the process of registering point clouds with low feature recognition, traditional methods based on local feature extraction and matching are usually not accurate, while the accuracy and efficiency of methods based on global feature matching are also hard to guarantee. In response to this problem, this paper proposed an improved local feature matching method. In initial registration, it designed a key point extraction method based on normal vector projection covariance analysis. Then it used fast point feature histogram(FPFH) descriptor to characterize these key points, and defined multiple matching conditions to screen the feature points. Finally, it took the sum of the nearest distance of the corresponding points as the optimization goal for rough matching. In fine registration, this paper used the improved iteration closest point(ICP) algorithm, which took the minimum distance from point to plane as the object of iterative optimization, for accurate registration. Experimental results show that, compared with the other three registration methods, the proposed method can maintain high registration accuracy while reducing registration time.

Foundation Support

国家自然科学基金面上项目(51375363)
陕西省科技厅工业公关项目(2013GY2-04)
中央高校基本科研业务费专项资金资助项目(Z201707084)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.05.0206
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 1
Section: Technology of Graphic & Image
Pages: 285-290
Serial Number: 1001-3695(2022)01-051-0285-06

Publish History

[2022-01-05] Printed Article

Cite This Article

熊丰伟, 庄健, 沈人. 基于邻域曲率的低特征辨识度点云配准方法 [J]. 计算机应用研究, 2022, 39 (1): 285-290. (Xiong Fengwei, Zhuang Jian, Shen Ren. Point cloud with low feature recognition registration method based on neighborhood curvature [J]. Application Research of Computers, 2022, 39 (1): 285-290. )

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  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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