Point cloud pair constraint registration algorithm based on directed distance function

Xingzhao Wang; Xu Zhang

doi:10.1117/12.3023293

15 February 2024 Point cloud pair constraint registration algorithm based on directed distance function

Xingzhao Wang, Xu Zhang

Proceedings Volume 13069, International Conference on Optical and Photonic Engineering (icOPEN 2023); 1306908 (2024) https://doi.org/10.1117/12.3023293
Event: International Conference on Optical and Photonic Engineering (icOPEN 2023), 2023, Singapore, Singapore

Abstract

In order to solve the problem of high-precision registration of point cloud pairs with known correspondence under constrained conditions, a point cloud pairs registration method based on directed distance function is proposed. The point-to-point directed distance function is constructed by first order linear Taylor expansion, and LM algorithm is used to solve the least squares problem. An improved particle swarm optimization (PSO) algorithm is introduced to find the optimal normal vector between point pairs, so that the directed distance function iteratively approximates the sum of the minimum Euclidean distances between point pairs. The experimental results show that compared with SVD method, the proposed method is close to its accuracy under short distance variation, while the calculation accuracy is obviously improved under large distance complex variation.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xingzhao Wang and Xu Zhang "Point cloud pair constraint registration algorithm based on directed distance function", Proc. SPIE 13069, International Conference on Optical and Photonic Engineering (icOPEN 2023), 1306908 (15 February 2024); https://doi.org/10.1117/12.3023293

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