基于超体素双向最近邻距离比的点云配准方法

doi:10.13229/j.cnki.jdxbgxb20220263

Abstract

Abstract:

Aiming at the problems of redundancy and low registration accuracy of the point cloud data， a bidirectional nearest neighbor distance ratio registration method based on supervoxel is proposed in this paper. Firstly， the target feature points with stable structure are extracted by the supervoxel， and a non-iterative threshold denoising method based on point cloud thickness stratification is proposed； then， using FPFH for feature description， and a bidirectional nearest neighbor distance ratio method is proposed to register the point cloud； finally， an accurate point cloud registration method based on two-level threshold is proposed. The standard database model is used for simulation analysis to verify the effectiveness of the algorithm. The results show that the proposed method in this paper can effectively eliminate the drift noise voxels， and the algorithm has high registration accuracy and strong robustness. Compared with other methods， when the registration time is close， the registration accuracy of this algorithm is improved by 74.2%； When the noise ratio is 6% and 10%， the registration accuracy is improved by more than 67%.

Key words: signal and information processing, point cloud registration, supervoxel, point cloud layered denoising, bidirectional nearest neighbor distance ratio, two-level threshold registration

CLC Number:

G202

Xue-mei LI,Chun-yang WANG,Xue-lian LIU,Chun-hao SHI,Guo-rui LI. Point cloud registration method based on supervoxel bidirectional nearest neighbor distance ratio[J].Journal of Jilin University(Engineering and Technology Edition), 2022, 52(8): 1918-1925.

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References 18

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参数名称	参数值	参数名称	参数值
体素分辨率	0.001	距离比阈值	0.985
网格分辨率	0.008	初配迭代	30
法向量阈值	0.8	初配搜索半径	0.05
邻域值	10	网格化去噪搜索半径	0.0015
阈值噪声系数	0.9	成像横向分辨率	0.1
测距精度	0.1

分组	算法	总时间/s	误差
1	FPFH+双向最近邻距离比初配+ICP	77.6907	1.4281×10^-33
1	FPFH+双向最近邻距离比初配+双级阈值精配	76.8923	3.6786×10^-34
2	FPFH+单向最近邻距离初配	19.9459	4.2109×10^-2
2	FPFH+双向最近邻距离比初配	72.6651	2.4472×10^-4

算法	噪声占比/%	误差
ICP	0	6.3903×10^-4
	6	1.2049×10^-4
	10	1.1139×10^-4
FPFH+ICP	0	1.7161×10^-33
	6	1.5233×10^-3
	10	2.3226×10^-3
FPFH+双级阈值精配	0	3.7351×10^-34
	6	5.2333×10^-4
	10	5.6391×10^-4
本文算法	0	6.5561×10^-5
	6	3.8025×10^-5
	10	3.5942×10^-5

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Point cloud registration method based on supervoxel bidirectional nearest neighbor distance ratio

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