An accelerated ICP registration algorithm for 3D point cloud data

Jingan Meng; Jinlong Li; Xiaorong Gao

doi:10.1117/12.2504772

18 January 2019 An accelerated ICP registration algorithm for 3D point cloud data

Jingan Meng, Jinlong Li, Xiaorong Gao

Proceedings Volume 10839, 9th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Optical Test, Measurement Technology, and Equipment; 1083904 (2019) https://doi.org/10.1117/12.2504772
Event: Ninth International Symposium on Advanced Optical Manufacturing and Testing Technologies (AOMATT2018), 2018, Chengdu, China

Abstract

In optical non-contact three-dimensional measurement, the reconstruction of complex objects requires the registration of multiple sets of measurement data. The Standard Iterative Closet Point(ICP) algorithm is a classical mathematical method for point cloud data registration in 3D laser scanning data processing. In order to improve the efficiency of registration, based on the ICP algorithm, a combination of kd-tree and extrapolation is used. The advantage of the improved registration algorithm becomes more obvious as the amount of point cloud is getting greater. Experimental results show that the running time of ICP algorithm is much larger (dozens of times) than that of the improved one, and the proposed algorithm has the advantages of fast speed and high accuracy.

Citation Download Citation

Jingan Meng, Jinlong Li, and Xiaorong Gao "An accelerated ICP registration algorithm for 3D point cloud data", Proc. SPIE 10839, 9th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Optical Test, Measurement Technology, and Equipment, 1083904 (18 January 2019); https://doi.org/10.1117/12.2504772

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