一种动态特征匹配的部分重叠点云配准方法

doi:10.11959/j.issn.1000-0801.2021010

Abstract

Abstract:

The point cloud registration method can effectively complete the registration of point clouds with different overlap rates and various sizes, and ensure the accuracy of the 3D reconstruction model.To address the above issues, a partial overlapping point cloud registration method based on dynamic feature matching named PPCR was proposed.Firstly, the point cloud was divided into sub-point clouds based on the Euclidean distance segmentation method.Secondly, the features of sub-point clouds were extracted.Since the sizes of different point clouds are varied, the scales of the extracted features are also different.Thus, a dynamic time warping (DTW) algorithm was proposed to map the sub-point clouds.Finally, the registration algorithm was iterated to obtain the translation and rotation matrix between point clouds.This matrix was used to complete the registration and stitching between point clouds.Experimental results show that the proposed method can effectively solve the registration problems of partially overlapping point clouds and point clouds with different scales.

Key words: lidar, overlapping point cloud, point cloud segmentation, point cloud mapping, point cloud registration

CLC Number:

P237

Hui DU, Changliang ZHENG, Chunyu MIAO, Xiaomeng ZHANG. A partial overlapping point cloud registration method based on dynamic feature matching[J]. Telecommunications Science, 2021, 37(4): 97-107.

Figures/Tables 16

References 19

[1]	吴淑芳, 刘勃洋, 雷琪 ,等. 基于三维重建技术的坡面细沟侵蚀演变过程研究[J]. 农业工程学报, 2019,35(9): 114-120.
	WU S F , LIU B Y , LEI Q ,et al. Research on the evolution process of slope rill erosion based on 3D reconstruction technology[J]. Transactions of the Chinese Society of Agricultural Engineering, 2019,35(9): 114-120.
[2]	PORPIGLIA F , CHECCUCCI E , AMPARORE D ,et al. Augmented-reality robot-assisted radical prostatectomy using hyper-accuracy three-dimensional reconstruction (HA3D?) technology:a radiological and pathological study[J]. BJU International, 2019,123(5): 834-845.
[3]	ZHOU Y , ZHANG L , XING C ,et al. Target three-dimensional reconstruction from the multi-view radar image sequence[J]. IEEE Access, 2019(7): 36722-36735.
[4]	ZHOU Y Q , LIU L , WANG L ,et al. Service aware 6G:an intelligent and open network based on convergence of communication,computing and caching[J]. Digital Communications and Networks, 2020,6(3): 253-260.
[5]	ZHOU Y Q , TIAN L , LIU L ,et al. Fog computing enabled future mobile communication networks:a convergence of communication and computing[J]. IEEE Communications Magazine, 2019,57(5): 20-27.
[6]	KARG M , PROKOFYEVA O . Method for three- dimensional graphic reconstruction of a vehicle:LUS20200026905,744[P]. 2020.
[7]	陈佳舟, 彭鹤年, 吴宁 ,等. 文物三维重建误差点的自动剔除方法[J]. 小型微型计算机系统, 2019,40(9): 71-77.
	CHEN J Z , PENG H N , WU N ,et al. Automatic removal of error points in the 3D reconstruction of cultural relics[J]. Small Microcomputer System, 2019,40(9): 71-77.
[8]	RAO Y B , FAN B J , WANG Q F ,et al. Extreme feature regions detection and accurate quality assessment for point-cloud 3D reconstruction[J]. IEEE Access, 2019(7): 37757-37769.
[9]	LAN Z Q , YEW Z J , LEE G H . Robust point cloud based reconstruction of large-scale outdoor scenes[C]// Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. Piacataway:IEEE Press, 2019: 9690-9698.
[10]	徐斌, 行鸿彦, 解建华 ,等. 基于三维重建的大腿假肢接受腔定制研究[J]. 电子测量与仪器学报, 2018(9): 23-28.
	XU B , XING H Y , XIE J H ,et al. Customization of the thigh prosthetic cavity based on 3D reconstruction[J]. Journal of Electronic Measurement and Instrument, 2018(9): 23-28.
[11]	张一, 姜挺, 江刚武 ,等. 特征法视觉 SLAM 逆深度滤波的三维重建[J]. 测绘学报, 2019,48(6): 54-61.
	ZHANG Y , JIANG T , JIANG G W ,et al. Three-dimensional reconstruction of feature-based visual SLAM inverse depth filtering[J]. Journal of Surveying and Mapping, 2019,48(6): 54-61.
[12]	丁忠军, 赵子毅, 张春堂 ,等. 载人潜水器的深海地貌线结构光三维重建[J]. 红外与激光工程, 2019,48(5): 77-84.
	DING Z J , ZHAO Z Y , ZHANG C T ,et al. Structured light three-dimensional reconstruction of deep sea landforms for manned submersibles[J]. Infrared and Laser Engineering, 2019,48(5): 77-84.
[13]	SEDAGHAT N , ZOLFAGHARI M , AMIR E ,et al. Orientation-boosted voxel nets for 3D object recognition[J].arXiv preprint:1604.03351,2016. arXiv preprint:1604.03351, 2016.
[14]	李斌, 张建平, 刘学军 . 基于Hadoop的不确定异常时间序列检测[J]. 传感技术学报, 2015(7): 124-130.
	LI B , ZHANG J P , LIU X J . Uncertain anomalous time series detection based on Hadoop[J]. Journal of Sensor Technology, 2015(7): 124-130.
[15]	李翔宇, 许力, 李瑞兴 . 基于CM-DTW算法的智能手机动态手势身份认证[J]. 计算机系统应用, 2019(8): 87-96.
	LI X Y , XU L , LI R X . Smart phone dynamic gesture identity authentication based on CM-DTW algorithm[J]. Computer Systems ＆ Applications, 2019(8): 87-96.
[16]	DING Q , HE J . The detection of non-cooperative targets in space by using 3D point cloud[C]// Proceedings of 2019 5th International Conference on Control,Automation and Robotics (ICCAR). Piacataway:IEEE Press, 2019: 545-549.
[17]	CHEN X W , ZHU Y L , WU T ,et al. The point cloud registration technology based on SAC-IA and improved ICP[J]. Journal of Xi'an Polytechnic University, 2017,31(3): 395-401.
[18]	LIU T , WANG N , FU Q ,et al. Research on 3D reconstruction method based on laser rotation scanning[C]// Proceedings of 2019 IEEE International Conference on Mechatronics and Automation (ICMA). Piacataway:IEEE Press, 2019: 1600-1604.
[19]	SUN M H , YANG S W , LIU H Z . Scale-aware camera localization in 3D LiDAR maps with a monocular visual odometry[J]. Computer Animation and Virtual Worlds, 2019,30(3-4): e1879.

Metrics

Recommended 0

No Suggested Reading articles found!

算法	35%	30%	25%	20%	15%	10%	5%
PPCR算法	113	102	95	81	74	69	66
ICP算法	206	184	167	146	123	119	108

滤波阈值	S/5	S/4	S/3	S/2
E_R	0.351	0.286	0.241	0.179
E_t	0.092	0.075	0.058	0.042
E_R+t	0.443	0.361	0.299	0.211
拼接效果	1	1	1	1

下采样矩阵大小	3×3	5×5	7×7	9×9
E_R	0.273	0.415	0.689	0.840
E_t	0.051	0.089	0.095	0.139
E_R+t	0.324	0.504	0.784	0.979
配准效果	1	1	0	0

g(unit)	2	3	4	5	6	7	8	9	10
E_R+t	0.71	0.47	0.39	0.36	0.37	0.34	0.38	0.33	0.35

A partial overlapping point cloud registration method based on dynamic feature matching

RichHTML

PDF下载

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 16

References 19

Related Articles 0

Metrics

Recommended 0