Point cloud registration algorithm based on normal vector and gaussian curvature

SHI Lei; YAN Li-min

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Point cloud registration algorithm based on normal vector and gaussian curvature

更新时间：2026-09-04

- Point cloud registration algorithm based on normal vector and gaussian curvature
- Vol. 37, Issue 9, Pages: 68-72(2020)
- 作者机构：
  
  上海大学微电子研究与开发中心,上海,200072
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published：2020
- 稿件说明：
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石磊, 严利民. 基于法向量和高斯曲率的点云配准算法[J]. 微电子学与计算机, 2020, 37(9): 68-72.

SHI Lei, YAN Li-min. Point cloud registration algorithm based on normal vector and gaussian curvature[J]. 2020, 37(9): 68-72.
石磊, 严利民. 基于法向量和高斯曲率的点云配准算法[J]. 微电子学与计算机, 2020, 37(9): 68-72. DOI：

SHI Lei, YAN Li-min. Point cloud registration algorithm based on normal vector and gaussian curvature[J]. 2020, 37(9): 68-72. DOI：

摘要

迭代最近点算法(Iterative closest point

ICP)因配准精度高、适应性强而被广泛使用，但是它容易受高斯噪声和离群点的影响，导致运行速度缓慢、配准精度降低，且需要两片点云具有良好的初始位置，否则会出现局部最优问题.针对以上问题，本文提出了一种新的点云配准方法，利用法向量和高斯曲率进行粗配准，去除无关点同时提供较好的初始位置，再采用基于奇异值分解的ICP算法进行精细配准，并采用斯坦福大学的点云数据集进行了配准实验，结果表明，本文算法能够有效降低高斯噪声和离群点对配准效果的干扰，改善了点云配准的运行效率和配准精度，与传统ICP算法相比，平均配准时间减少了53.5%，配准精度提高了43.2%.

Abstract

Iterative closest point(ICP) algorithm is widely used due to its high registration accuracy and strong adaptability. However

it is easily affected byGaussian noise and outliers

resulting in slow running speedandreduced registration accuracy

whichrequires that the point cloud must havea good initial position

otherwise local optimization problems will occur. In view ofthe above problems

this paper proposes a new point cloud registration method

which uses coarse vector and Gaussian curvature for coarse registration

removes irrelevant points and provides a good initial position

and then uses singular value decomposition based ICP algorithm to refine registration

and use Stanford′s point cloud data to set for registration experiments. The results show that the algorithm in this paper can effectively reduce the interference of Gaussian noise and outliers on the registration effect and improve the operation efficiency and registration of point cloud registration. Compared with the traditional ICP algorithm

the average registration time is reduced by 53.5% and the registration accuracy is increased by 43.2%.

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Keywords

references

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