An improved iterative nearest point registration method for vehicle-mounted laser point cloud

Zhou Yu; Bingyu Sun

doi:10.1117/12.2690359

17 August 2023 An improved iterative nearest point registration method for vehicle-mounted laser point cloud

Zhou Yu, Bingyu Sun

Proceedings Volume 12757, 3rd International Conference on Laser, Optics, and Optoelectronic Technology (LOPET 2023); 127571R (2023) https://doi.org/10.1117/12.2690359
Event: 3rd International Conference on Laser, Optics and Optoelectronic Technology (LOPET 2023), 2023, Kunming, China

Abstract

The laser point cloud is sparse and noisy, and the traditional iterative closest point (ICP) algorithm has poor robustness and long convergence time. In order to further improve the accuracy and robustness of point cloud registration, an iterative nearest point registration algorithm (FPFH-ICP) based on normal vector angle generation of Fast Point Feature Histograms (FPFH) is proposed. Firstly, the voxel grid filter and Statistical-Outlier-Remove filter are used for sampling, and the feature point normal vectors that meet the threshold conditions are screened to generate the point feature histogram. Then, the sample consensus initial aligment (SAC-IA) algorithm is used for initial registration, and the K-D tree accelerated iterative ICP algorithm is established to achieve fine registration. In this paper, multiple registration experiments are carried out on laser point cloud data with different characteristics in the two scenarios of straight and steering, and the results show that the improved FPFH-ICP can achieve efficient and robust registration for vehicle point clouds.

Citation Download Citation

Zhou Yu and Bingyu Sun "An improved iterative nearest point registration method for vehicle-mounted laser point cloud", Proc. SPIE 12757, 3rd International Conference on Laser, Optics, and Optoelectronic Technology (LOPET 2023), 127571R (17 August 2023); https://doi.org/10.1117/12.2690359

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
6 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Point clouds

Detection and tracking algorithms

Matrices

Histograms

Laser applications

Tunable filters

Covariance matrices

Show All Keywords

Keywords/Phrases

Search In:

Publication Years