Variable Scale Point Cloud Registration Algorithm

doi:10.16182/j.issn1004731x.joss.201807005

Abstract

Abstract: To address the low registration accuracy issue caused by scale mismatch of two point clouds, a multi-scale point cloud registration algorithm is proposed based on the distance ratio invariance of the geometric center of gravity and centroid. The point cloud is firstly filtered. Then, the scale ratio calculation model of the point cloud data is established by computing the point cloud’s gravity center and centroid. Finally, according to the relationship between the registration error and the scale true value, the scale factor is refined step by step with ICP algorithm. For the noise and the inconsistent point in the point cloud, comparative tests are carried out. The experimental results show that, in the absence of noise, the magnitude of registration error order is 10^-12~10^-15; in the case with noise, the magnitude of registration error order is 10^-4.

Key words: multi-scale, point cloud registration, center of gravity, centroid, noise

CLC Number:

TP391.41

Sun Shuifa, Li Zhun, Xia Kun, Shi Yunfei, Yang Jiquan, Dong Fangmin. Variable Scale Point Cloud Registration Algorithm[J]. Journal of System Simulation, 2018, 30(7): 2465-2474.

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