Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 38, 2021 No. 1
305-310

Research of point cloud registration algorithm based on hypothesis test matching constraints

Jiang Xua
Geng Nana,b,c
Zhang Zhiyia,b,c
Hu Shaojuna,b,c
a. College of Information Engineering, b. Key Laboratory of Agricultural Internet of Things for Ministry of Agriculture & Rural Affairs, c. Shaanxi Key Laboratory of Agricultural Perception & Intelligent Service, Northwest A&F University, Yangling Shaanxi 712100, China
DOI: 10.19734/j.issn.1001-3695.2019.07.0569

Abstract

Aiming at the problems of low efficiency, large error and weak anti-noise ability in point cloud registration, this paper proposed an improved iterative closest point registration algorithm based on t test(test-iterative closest point, T-ICP). In initial registration, this paper used statistical analysis to mark outliers in point cloud and extracted non-outliers. Then, it used principal component analysis(PCA) to calculate the transformation matrix between the non-outlier source point cloud and the non-outlier target point cloud, and the transformation matrix could transform source point cloud to target point cloud. In fine registration, this paper used iterative closest point(ICP) algorithm as the basic framework and introduced t test and uniform distribution. T test could analyze the neighborhood distance distribution of candidate point pairs and eliminate wrong point pairs. Uniform distribution as the strategy of searching point pairs could ensure complete morphological registration of point cloud. Experimental results show that the proposed algorithm improves the efficiency and accuracy by 10%~50% and 4%~40%, respectively, and has better robustness, compared with ICP and some improved registration algorithms in the last two years.

Foundation Support

陕西省重点研发计划资助项目(2019ZDLNY07-06-01)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2019.07.0569
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 1
Section: Technology of Graphic & Image
Pages: 305-310
Serial Number: 1001-3695(2021)01-062-0305-06

Publish History

[2021-01-05] Printed Article

Cite This Article

江旭, 耿楠, 张志毅, 等. 基于假设检验匹配约束的点云配准算法研究 [J]. 计算机应用研究, 2021, 38 (1): 305-310. (Jiang Xu, Geng Nan, Zhang Zhiyi, et al. Research of point cloud registration algorithm based on hypothesis test matching constraints [J]. Application Research of Computers, 2021, 38 (1): 305-310. )

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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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