A point cloud registration method based on improved beetle antennae search algorithm and ICP

Hua Wang; Yi-fei Han; Shuang Zhang; Guo-kai Zhu

doi:10.1117/12.2675223

25 May 2023 A point cloud registration method based on improved beetle antennae search algorithm and ICP

Hua Wang, Yi-fei Han, Shuang Zhang, Guo-kai Zhu

Proceedings Volume 12636, Third International Conference on Machine Learning and Computer Application (ICMLCA 2022); 126365A (2023) https://doi.org/10.1117/12.2675223
Event: Third International Conference on Machine Learning and Computer Application (ICMLCA 2022), 2022, Shenyang, China

Abstract

Since a single stereo vision sensor cannot completely represent the whole picture of the object, it is necessary to use point cloud registration to realize the whole construction of the object, so as to help the robot complete subsequent operations according to the point cloud information of the complete object. Aiming at the defects of the ICP algorithm in the traditional point cloud registration algorithm, which takes a long time and requires a high initial pose of the point cloud, a point cloud registration method based on improved beetle antennae search algorithm and ICP is proposed. In this method, the initial point cloud pair to be registered is preprocessed by subsampling, etc., and then the application of Moth-flame optimization algorithm to the population is used for reference in rough registration to improve the beetle antennae search algorithm, so that the point cloud pair has a better initial pose. Finally, the KD-TREE is introduced in the process of accurate registration to improve the ICP algorithm and achieve the final point cloud registration. The experimental simulation results show that compared with the traditional ICP algorithm, the registration accuracy of the proposed algorithm is improved by 64.1% on average, and the registration efficiency is improved by 82.0% on average, which effectively improves the ICP algorithm's low speed and accuracy in point cloud registration.

Citation Download Citation

Hua Wang, Yi-fei Han, Shuang Zhang, and Guo-kai Zhu "A point cloud registration method based on improved beetle antennae search algorithm and ICP", Proc. SPIE 12636, Third International Conference on Machine Learning and Computer Application (ICMLCA 2022), 126365A (25 May 2023); https://doi.org/10.1117/12.2675223

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KEYWORDS

Point clouds

Mathematical optimization

Matrices

Tunable filters

3D image processing

Computer simulations

Image registration

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