The Improvement of Iterative Closest Point with Edges of Projected Image
Background: There are many regular-shape objects in the artificial environment. It is difficult to distinguish the poses of these objects, when only geometric information is utilized. With the development of sensor technologies, we can utilize other information to solve this problem. Methods: We pro...
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| Format: | Article |
| Language: | English |
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KeAi Communications Co., Ltd.
2023-06-01
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| Series: | Virtual Reality & Intelligent Hardware |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S209657962200095X |
| _version_ | 1827923377903370240 |
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| author | Chen Wang |
| author_facet | Chen Wang |
| author_sort | Chen Wang |
| collection | DOAJ |
| description | Background: There are many regular-shape objects in the artificial environment. It is difficult to distinguish the poses of these objects, when only geometric information is utilized. With the development of sensor technologies, we can utilize other information to solve this problem. Methods: We propose an algorithm to register point clouds by integrating color information. The key idea of the algorithm is that we jointly optimize dense term and edge term. The dense term is built similarly to iterative closest point algorithm. In order to build the edge term, we extract the edges of the images obtained by projecting the point clouds. The edge term prevents the point clouds from sliding in registration. We utilize this loosely coupled method to fuse geometric and color information. Results: The experiments demonstrate that edge image approach improves the precision and the algorithm is robust. |
| first_indexed | 2024-03-13T04:55:54Z |
| format | Article |
| id | doaj.art-bc9c042904ae43549eb15020b97da997 |
| institution | Directory Open Access Journal |
| issn | 2096-5796 |
| language | English |
| last_indexed | 2024-03-13T04:55:54Z |
| publishDate | 2023-06-01 |
| publisher | KeAi Communications Co., Ltd. |
| record_format | Article |
| series | Virtual Reality & Intelligent Hardware |
| spelling | doaj.art-bc9c042904ae43549eb15020b97da9972023-06-18T05:01:32ZengKeAi Communications Co., Ltd.Virtual Reality & Intelligent Hardware2096-57962023-06-0153279291The Improvement of Iterative Closest Point with Edges of Projected ImageChen Wang0School of Information and Communication Engineering, University of Electronic Science and Technology of China, 611731, ChinaBackground: There are many regular-shape objects in the artificial environment. It is difficult to distinguish the poses of these objects, when only geometric information is utilized. With the development of sensor technologies, we can utilize other information to solve this problem. Methods: We propose an algorithm to register point clouds by integrating color information. The key idea of the algorithm is that we jointly optimize dense term and edge term. The dense term is built similarly to iterative closest point algorithm. In order to build the edge term, we extract the edges of the images obtained by projecting the point clouds. The edge term prevents the point clouds from sliding in registration. We utilize this loosely coupled method to fuse geometric and color information. Results: The experiments demonstrate that edge image approach improves the precision and the algorithm is robust.http://www.sciencedirect.com/science/article/pii/S209657962200095XPoint cloudRegistrationIterative Closest Point |
| spellingShingle | Chen Wang The Improvement of Iterative Closest Point with Edges of Projected Image Virtual Reality & Intelligent Hardware Point cloud Registration Iterative Closest Point |
| title | The Improvement of Iterative Closest Point with Edges of Projected Image |
| title_full | The Improvement of Iterative Closest Point with Edges of Projected Image |
| title_fullStr | The Improvement of Iterative Closest Point with Edges of Projected Image |
| title_full_unstemmed | The Improvement of Iterative Closest Point with Edges of Projected Image |
| title_short | The Improvement of Iterative Closest Point with Edges of Projected Image |
| title_sort | improvement of iterative closest point with edges of projected image |
| topic | Point cloud Registration Iterative Closest Point |
| url | http://www.sciencedirect.com/science/article/pii/S209657962200095X |
| work_keys_str_mv | AT chenwang theimprovementofiterativeclosestpointwithedgesofprojectedimage AT chenwang improvementofiterativeclosestpointwithedgesofprojectedimage |