Technology of Graphic & Image
|
App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 1
270-274,279

Point cloud registration algorithm based on quadric error

Lu Yueni
Huang Jianmin
Xu Guangrun
Zhou Ming
Zhou Lei
School of Computer Science & Engineering, Guangxi Normal University, Guilin Guangxi 541006, China
DOI: 10.19734/j.issn.1001-3695.2021.04.0193

Abstract

This paper proposed a feature descriptor based on quadratic error, which had rotation invariance. It obtained two feature descriptors by extracting the quadratic error of the point and the quadratic error of the neighboring point. It emerged point cloud registration algorithms based on the Gaussian mixture model in an endless stream. The main reason was that probabilistic models had better robustness in terms of noise and outliers. However, this type of method did not perform well for larger-scale rotations. This paper used the quadratic error feature descriptor as a local feature of the Gaussian mixture model to optimize the registration effect in the larger rotation of the Gaussian mixture model, and proposed a dual-feature-based registration strategy to optimize the defects of a single feature. Through experiments, compared with the robust ICP and popular feature-based registration algorithm in terms of registration efficiency and precision, the efficiency of the algorithm is 3~4 times that of the robust ICP. In large-scale rotation, the proposed algorithm has good robustness and is superior to the most popular algorithms.

Foundation Support

国家自然科学基金资助项目(61866005)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.04.0193
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 1
Section: Technology of Graphic & Image
Pages: 270-274,279
Serial Number: 1001-3695(2022)01-048-0270-05

Publish History

[2022-01-05] Printed Article

Cite This Article

卢月妮, 黄健民, 许光润, 等. 基于二次误差的点云配准算法 [J]. 计算机应用研究, 2022, 39 (1): 270-274,279. (Lu Yueni, Huang Jianmin, Xu Guangrun, et al. Point cloud registration algorithm based on quadric error [J]. Application Research of Computers, 2022, 39 (1): 270-274,279. )

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  • Application Research of Computers Monthly Journal
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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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