Fast color point cloud registration based on virtual viewpoint image
With the increase of point cloud scale, the time required by traditional ICP-related point cloud registration methods increases dramatically, which cannot meet the registration requirements of large-scale point clouds. In this paper, a fast registration technique for large scale point clouds based o...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-11-01
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| Series: | Frontiers in Physics |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fphy.2022.1026517/full |
| _version_ | 1811243891790184448 |
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| author | Zhao Hui Zhang Yong-Jian Zhang Lei Jiao Xiao-Xue Lang Li-Ying |
| author_facet | Zhao Hui Zhang Yong-Jian Zhang Lei Jiao Xiao-Xue Lang Li-Ying |
| author_sort | Zhao Hui |
| collection | DOAJ |
| description | With the increase of point cloud scale, the time required by traditional ICP-related point cloud registration methods increases dramatically, which cannot meet the registration requirements of large-scale point clouds. In this paper, a fast registration technique for large scale point clouds based on virtual viewpoint image generation is studied. Firstly, the projection image of color point cloud is generated by virtual viewpoint. Then, the feature is extracted based on ORB and the rotation and translation matrix is calculated. The experimental results show that the registration time of the proposed method is about 1s when the size of the point cloud is from 300,000 to 2 million, which is improved by 17–258 times compared with the traditional ICP registration method, and the registration error is reduced by 80% from ICP 5.0 to 1.0. This paper provides a new idea and method for large-scale color point cloud registration. |
| first_indexed | 2024-04-12T14:15:17Z |
| format | Article |
| id | doaj.art-69f1d1804c49461d9f991d3020c2d32f |
| institution | Directory Open Access Journal |
| issn | 2296-424X |
| language | English |
| last_indexed | 2024-04-12T14:15:17Z |
| publishDate | 2022-11-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Physics |
| spelling | doaj.art-69f1d1804c49461d9f991d3020c2d32f2022-12-22T03:29:44ZengFrontiers Media S.A.Frontiers in Physics2296-424X2022-11-011010.3389/fphy.2022.10265171026517Fast color point cloud registration based on virtual viewpoint imageZhao Hui0Zhang Yong-Jian1Zhang Lei2Jiao Xiao-Xue3Lang Li-Ying4School of Information and Electrical Engineering, Hebei University of Engineering, Handan, Hebei, ChinaSchool of Information and Electrical Engineering, Hebei University of Engineering, Handan, Hebei, ChinaSchool of Mathematics and Physics Science and Engineering, Handan, Hebei, ChinaSchool of Mathematics and Physics Science and Engineering, Handan, Hebei, ChinaAdvanced Laser Technology Research Center, Hebei University of Technology, Tianjin, ChinaWith the increase of point cloud scale, the time required by traditional ICP-related point cloud registration methods increases dramatically, which cannot meet the registration requirements of large-scale point clouds. In this paper, a fast registration technique for large scale point clouds based on virtual viewpoint image generation is studied. Firstly, the projection image of color point cloud is generated by virtual viewpoint. Then, the feature is extracted based on ORB and the rotation and translation matrix is calculated. The experimental results show that the registration time of the proposed method is about 1s when the size of the point cloud is from 300,000 to 2 million, which is improved by 17–258 times compared with the traditional ICP registration method, and the registration error is reduced by 80% from ICP 5.0 to 1.0. This paper provides a new idea and method for large-scale color point cloud registration.https://www.frontiersin.org/articles/10.3389/fphy.2022.1026517/fullpoint cloudregistrationvirtual viewpointICPORB |
| spellingShingle | Zhao Hui Zhang Yong-Jian Zhang Lei Jiao Xiao-Xue Lang Li-Ying Fast color point cloud registration based on virtual viewpoint image Frontiers in Physics point cloud registration virtual viewpoint ICP ORB |
| title | Fast color point cloud registration based on virtual viewpoint image |
| title_full | Fast color point cloud registration based on virtual viewpoint image |
| title_fullStr | Fast color point cloud registration based on virtual viewpoint image |
| title_full_unstemmed | Fast color point cloud registration based on virtual viewpoint image |
| title_short | Fast color point cloud registration based on virtual viewpoint image |
| title_sort | fast color point cloud registration based on virtual viewpoint image |
| topic | point cloud registration virtual viewpoint ICP ORB |
| url | https://www.frontiersin.org/articles/10.3389/fphy.2022.1026517/full |
| work_keys_str_mv | AT zhaohui fastcolorpointcloudregistrationbasedonvirtualviewpointimage AT zhangyongjian fastcolorpointcloudregistrationbasedonvirtualviewpointimage AT zhanglei fastcolorpointcloudregistrationbasedonvirtualviewpointimage AT jiaoxiaoxue fastcolorpointcloudregistrationbasedonvirtualviewpointimage AT langliying fastcolorpointcloudregistrationbasedonvirtualviewpointimage |