Dynamic Differential Evolution Algorithm Applied in Point Cloud Registration

3rd International Conference on Automation, Control and Robotics Engineering

工业技术;计算机科学;无线电电子学

Li, C.L.^1 ; Dian, S.Y.^1

School of Electrical Engineering and Information, Sichuan University, Chengdu

610065, China^1

关键词: Dynamic differential evolutions;    Iterative Closest Point (ICP);    Objective functions;    Point cloud registration;    Registration accuracy;    Registration methods;    Root mean square errors;    Rotation angles;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/428/1/012032/pdf
DOI  :  10.1088/1757-899X/428/1/012032

来源: IOP

【 摘 要 】

Aiming at the problem of point cloud registration, a registration method based on dynamic differential evolution algorithm (DDE) is proposed. The voxel grid method is used to uniformly sample the point cloud to reduce the time complexity of DDE. The individuals of DDE are coded by rotation angle and the translation distance. The kd-tree is used to search for corresponding point pairs, and the root mean square error is defined as the objective function of DDE. Experiments show that the proposed method can register point clouds with a large difference in position, and has better registration accuracy than iterative closest point (ICP).