Fast Method of Registration for 3D RGB Point Cloud with Improved Four Initial Point Pairs Algorithm.

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ID: 72730
2019
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Abstract
Three-dimensional (3D) point cloud registration is an important step in three-dimensional (3D) model reconstruction or 3D mapping. Currently, there are many methods for point cloud registration, but these methods are not able to simultaneously solve the problem of both efficiency and precision. We propose a fast method of global registration, which is based on RGB (Red, Green, Blue) value by using the four initial point pairs (FIPP) algorithm. First, the number of different RGB values of points in a dataset are counted and the colors in the target dataset having too few points are discarded by using a color filter. A candidate point set in the source dataset are then generated by comparing the similarity of colors between two datasets with color tolerance, and four point pairs are searched from the two datasets by using an improved FIPP algorithm. Finally, a rigid transformation matrix of global registration is calculated with total least square (TLS) and local registration with the iterative closest point (ICP) algorithm. The proposed method (RGB-FIPP) has been validated with two types of data, and the results show that it can effectively improve the speed of 3D point cloud registration while maintaining high accuracy. The method is suitable for points with RGB values.
Reference Key
li2019fastsensors Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors Li, Peng;Wang, Ruisheng;Wang, Yanxia;Gao, Ge;
Journal sensors
Year 2019
DOI
E138
URL
Keywords
rgb 3d point cloud rgb-fipp four initial point pairs global registration point cloud registration drought stress lncrna maize tissue and development specificity transcriptional profiling serological diagnosis haemonchus contortus western blotting ras domain-containing protein indirect elisa lab-on-a-chip point-of-care diagnostics enzymatic reaction droplet-based microfluidics nanosensor silicon nanowire-based field-effect transistor β-galactosidase assay

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