Abstract
Proposed in this paper is a new procedure of range image (point cloud) registration reducing the risk of the original Iterative Closest Point (ICP) algorithm which gets stuck in a local minimum. To reduce this risk, it is essential to achieve the fine initial alignment of the given range images. The proposed procedure employs a 2D image registration method to achieve the fine initial alignment instead of a 3D feature based registration method. Although the 2D image registration method has also the risk of mismatching, we minimize the risk by increasing the number of test cases and selecting the answer that gains the most votes. To generate effective test cases, multiple 2D images are synthetized from the given range images by varying the orientation and resolution. The proposed procedure is implemented and tested for various examples, with experimental results showing that it outperforms existing methods.
| Original language | English |
|---|---|
| Pages (from-to) | 16-27 |
| Number of pages | 12 |
| Journal | CAD Computer Aided Design |
| Volume | 94 |
| DOIs | |
| Publication status | Published - 2018 Jan |
Bibliographical note
Funding Information:This research was supported by the Technology Innovation Program (10065150, Development of Low-cost and Small LIDAR System Technology based on 3D Laser scanning for 360 Real-time Monitoring), funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea) and the Korea Evaluation Institute of Industrial Technology (KEIT, Korea) . This work was also partially supported by National Research Foundation ( NRF-2015R1A2A2A01005871 ) by the Ministry of Education, Science and Technology,Korea .
Publisher Copyright:
© 2017 Elsevier Ltd
Keywords
- 3D registration
- ICP
- Image registration
- Initial alignment
- Range image
- Scanning
ASJC Scopus subject areas
- Computer Science Applications
- Computer Graphics and Computer-Aided Design
- Industrial and Manufacturing Engineering