Uniaxial Partitioning Strategy for Efficient Point Cloud Registration

Sensors

George André Pereira Thé¹  José Marques Soares¹  Polycarpo Souza Neto¹ 

[1] Departamento de Engenharia de Teleinformática, Universidade Federal do Ceará, Fortaleza 60455-970, Brazil;

关键词: 3D point cloud registration;    partitioning;    rigid body registration;    iterative closest point;    3D surface matching;    point matching algorithm;   

DOI  :  10.3390/s22082887

来源: DOAJ

【 摘 要 】

In 3D reconstruction applications, an important issue is the matching of point clouds corresponding to different perspectives of a particular object or scene, which is addressed by the use of variants of the Iterative Closest Point (ICP) algorithm. In this work, we introduce a cloud-partitioning strategy for improved registration and compare it to other relevant approaches by using both time and quality of pose correction. Quality is assessed from a rotation metric and also by the root mean square error (RMSE) computed over the points of the source cloud and the corresponding closest ones in the corrected target point cloud. A wide and plural set of experimentation scenarios was used to test the algorithm and assess its generalization, revealing that our cloud-partitioning approach can provide a very good match in both indoor and outdoor scenes, even when the data suffer from noisy measurements or when the data size of the source and target models differ significantly. Furthermore, in most of the scenarios analyzed, registration with the proposed technique was achieved in shorter time than those from the literature.

【 授权许可】

Unknown