Point cloud registration algorithm based on ICP algorithm and 3D-NDT algorithm Online publication date: Wed, 08-Jun-2022
by Jiangge Huang; Bo Tao; Fei Zeng
International Journal of Wireless and Mobile Computing (IJWMC), Vol. 22, No. 2, 2022
Abstract: Point cloud registration is a critical step in the 3D reconstruction process. The point cloud registration process needs to be performed with high efficiency and accuracy. An integrated point cloud registration algorithm based on the 3D normal distribution transform (3D-NDT) algorithm and the iterative closest point (ICP) algorithm is proposed in this paper. The algorithm has the advantages of these two algorithms, which can effectively reduce the registration time and assure accuracy even if the amount of point cloud data is significant. The registration experiments were performed by using the Bunny point cloud and Drill point cloud under 3D-NDT algorithm, ICP algorithm and the algorithm proposed in this paper, respectively. The experimental results show that our algorithm is fast and accurate compared with traditional algorithms. Moreover, when the amount of point cloud data is significant, the algorithm still performs well.
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