Abstract
Registration, which is the process of correctly superimposing and merging multiple 3D point clouds, is one of the fundamental techniques in 3D point cloud processing. Although the method of obtaining the coordinate system transformation parameters from the correspondence between point clouds obtained by feature point matching is often used, it is difficult to achieve high precision registration because of the low repeatability of feature points and the strong influence of matching errors. On the other hand, VKOP (Virtual Keypoint Of Polyhedron), which finds feature points at virtual locations, has been found to have high repeatability in environments containing many planes, but no registration method using VKOP has been proposed. In this paper, we propose a new method to obtain the appropriate coordinate system transformation parameters by brute force trials of local reference frames, considering the nature of VKOP. By comparing the proposed method with the conventional method, it is confirmed that the proposed method can be applied with high accuracy and speed.
