Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 38, 2021 No. 3
904-907

Point cloud registration method based on key point optimization after downsampling

Tao Sijie
Bai Ruilin
Key Laboratory of Advanced Process Control for Light Industry for Ministry of Education, School of Internet of Things Engineering, Jiangnan University, Wuxi Jiangsu 214122, China
DOI: 10.19734/j.issn.1001-3695.2020.01.0021

Abstract

Aiming at the problem of time-consuming point cloud registration due to the large amount of point cloud data of the workpiece, this paper proposed a point cloud registration method based on key points optimization after downsampling. It calculated the center of gravity of several voxels in the point cloud and used kd-tree to quickly traverse the neighboring points of the center of gravity to replace the voxel. It proposed an adaptive point cloud average distance calculation method to extract the ISS3D key points from the down-sampled point cloud, and used boundary point judgment method of the spherical neighborhood to optimize. The characteristic of FPFH described the key points after optimized. It used SAC-IA to solve approximate transformation matrix, and used ICP algorithm for precise registration to obtain the precise pose information of the workpiece. The experimental results show that compared with the other four registration algorithms, the registration accuracy has improved by 96.9%, 98.1%, 93.3%, and 3.5%, the registration speed has increased by 77.2%, 77.7%, 76.9%, and 85.4%, it shows the effectiveness of the method.

Foundation Support

江苏高校优势学科建设工程资助项目(PAPD)
江苏省产学研前瞻性联合研究项目(BY2015019-38)
江苏省科技成果转化专项资金项目(BA2016075)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2020.01.0021
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 3
Section: Technology of Graphic & Image
Pages: 904-907
Serial Number: 1001-3695(2021)03-051-0904-04

Publish History

[2021-03-05] Printed Article

Cite This Article

陶四杰, 白瑞林. 一种基于降采样后关键点优化的点云配准方法 [J]. 计算机应用研究, 2021, 38 (3): 904-907. (Tao Sijie, Bai Ruilin. Point cloud registration method based on key point optimization after downsampling [J]. Application Research of Computers, 2021, 38 (3): 904-907. )

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  • Application Research of Computers Monthly Journal
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    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.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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