2019 Volume 7 Issue 3 Pages 148-158
Point cloud registration is an important part of 3-dimensional information processing. Low overlap ratio, noise, outliers, and missing points considerably influence the registration results. In this paper, we propose a fast and robust point cloud registration method to reduce the impact of these factors. First, the point groups are resampled by point clouds as basic elements for point cloud registration. Second, singular value decomposition is used to decompose the point groups. Third, the depth image of the point groups is calculated, and the sparse feature is obtained using the depth image. Finally, the sparse feature is used to obtain registration results through sparse representation. Under the premise of robustness to low overlap ratio, noise, outliers, and missing points, experimental results show that our algorithm is faster and more accurate than extant methods.
