Journal
FRONTIERS IN PHYSICS
Volume 10, Issue -, Pages -Publisher
FRONTIERS MEDIA SA
DOI: 10.3389/fphy.2022.1026517
Keywords
point cloud; registration; virtual viewpoint; ICP; ORB
Categories
Funding
- S&T Program of Hebei
- [20371802D]
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This paper studies a fast registration technique for large-scale point clouds based on virtual viewpoint image generation. By generating the projection image of color point cloud, extracting features and calculating the rotation and translation matrix, the proposed method achieves fast and accurate registration. Experimental results show significant improvements compared to traditional ICP registration method in terms of point cloud size and registration time.
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.
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