<abstract xmlns="http://www.w3.org/1999/xhtml"><p>The common point cloud registration algorithms are usually divided into initial registration and precise registration. In this paper, SAC-IA algorithm, which is commonly used in PCL, is selected for initial registration, and the traditional ICP algorithm is used for accurate registration. Three different feature descriptors (3D shape context, Point Feature Histograms, Fast Point Feature Histograms) are used to realize SAC-IA algorithm and ICP precise registration algorithm. During the implementation of the algorithm, the registration time and registration error of point cloud are calculated; according to the experimental results, the registration time and registration error of SAC-IA algorithm and ICP algorithm based on three different descriptors are compared. The results show that the registration algorithm based on 3D shape context has high accuracy, but the registration time is too long, which is not suitable for a large number of point cloud data; the registration algorithm based on fast point feature histograms has short registration time and good registration effect.</p></abstract>

The common point cloud registration algorithms are usually divided into initial registration and precise registration. In this paper, SAC-IA algorithm, which is commonly used in PCL, is selected for initial registration, and the traditional ICP algorithm is used for accurate registration. Three different feature descriptors (3D shape context, Point Feature Histograms, Fast Point Feature Histograms) are used to realize SAC-IA algorithm and ICP precise registration algorithm. During the implementation of the algorithm, the registration time and registration error of point cloud are calculated; according to the experimental results, the registration time and registration error of SAC-IA algorithm and ICP algorithm based on three different descriptors are compared. The results show that the registration algorithm based on 3D shape context has high accuracy, but the registration time is too long, which is not suitable for a large number of point cloud data; the registration algorithm based on fast point feature histograms has short registration time and good registration effect.

Comparison of Several Different Registration Algorithms

International Journal of Advanced Network, Monitoring and Controls

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Comparison of Several Different Registration Algorithms"}

The common point cloud registration algorithms are usually divided into initial registration and precise registration. In this paper, SAC-IA algorithm, which...

Comparison of Several Different Registration Algorithms

Data publikacji: 23 lut 2022

Zakres stron: 22 - 27

DOI: https://doi.org/10.21307/ijanmc-2020-004

Słowa kluczowe
Point Cloud Registration, SAC-IA Algorithm, ICP Algorithm, Registration Time, Registration Error

© 2020 Lulu Liu et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Comparison of Several Different Registration Algorithms

Data publikacji: 23 lut 2022

Zakres stron: 22 - 27

DOI: https://doi.org/10.21307/ijanmc-2020-004

Słowa kluczowePoint Cloud Registration, SAC-IA Algorithm, ICP Algorithm, Registration Time, Registration Error

© 2020 Lulu Liu et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Słowa kluczowe
Point Cloud Registration, SAC-IA Algorithm, ICP Algorithm, Registration Time, Registration Error