A fast point clouds registration method with ISS-shot feature descriptors

Shuo Xu; Jun Liu; Hao Cai

doi:10.1117/12.2667448

28 March 2023 A fast point clouds registration method with ISS-shot feature descriptors

Shuo Xu, Jun Liu, Hao Cai

Proceedings Volume 12566, Fifth International Conference on Computer Information Science and Artificial Intelligence (CISAI 2022); 125662C (2023) https://doi.org/10.1117/12.2667448
Event: Fifth International Conference on Computer Information Science and Artificial Intelligence (CISAI 2022), 2022, Chongqing, China

Abstract

With the rapid development of high-precision sensors such as LiDAR and Kinect, point cloud has become the main data format to represent the three-dimensional world. And point cloud registration is an important step in the processing of these data. However, there are problems that wrong corresponding points, low registration accuracy and slow speed in the process of point cloud registration. We propose a fast point cloud registration method based on ISS-Shot feature descriptors, SVD algorithm, and an improved ICP algorithm. The proposed method firstly uses a voxel grid filter for down-sampling. Next, the feature points are extracted by the ISS algorithm and described by the SHOT algorithm. Afterwards, the ISS-Shot features are used for rough registration with SVD algorithm. Finally, the ICP algorithm with normal vector constraints and KD tree acceleration is used for accurate registration. The experimental results show that the proposed algorithm has higher registration accuracy and faster registration speed than the compared algorithms.

Citation Download Citation

Shuo Xu, Jun Liu, and Hao Cai "A fast point clouds registration method with ISS-shot feature descriptors", Proc. SPIE 12566, Fifth International Conference on Computer Information Science and Artificial Intelligence (CISAI 2022), 125662C (28 March 2023); https://doi.org/10.1117/12.2667448

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