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Coarse registration is the initial step of aligning a point clouds with other clouds, aiming to put two point clouds in the correct position. There are many coarse registration methods, and among them, the SAC-IA (Sample Consensus Initial Alignment) is widely used. It selects corresponding point pairs by matching the geometric features of point clouds. It has high registration accuracy and fast registration speed. However, when the geometric features of the point clouds are relatively simple or not distinctive, its registration performance may not be very effective. With the development of color image sensors, acquiring color point clouds has become increasingly important. The RGB information of point clouds can effectively compensate for the shortcomings of the SAC-IA algorithm. The color characteristics of the interested points are extracted by fusing the color information of feature points and their neighboring points, including the first-order moment of point clouds color and the CFH of the point clouds, based on the traditional SAC-IA algorithm. Experiments have shown that the improved SAC-IA algorithm has better accuracy and robustness.
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