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Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 36, 2019 No. 1
316-320

Point cloud registration based on entropy criterion genetic algorithm

Chen Jiea
Cai Yonga,b
Zhang Jianshenga
a. School of Manufacturing Science & Engineering, b. Key Laboratory of Testing Technology for Manufacturing Process, Southwest University of Science & Technology, Mianyang Sichuan 621010, China
DOI: 10.19734/j.issn.1001-3695.2017.03.0642

Abstract

The iterative closest point(ICP) algorithm is usually used in the fine registration of point cloud because of its high registration accuracy, but its registration accuracy and iteration convergence depend on the initial registration position of the point cloud to be registered. This paper proposed an algorithm of spatial optimization transformation matrix combining genetic algorithm with spatial distribution entropy, in which used a new point cloud spatial position evaluation method as the objective function of genetic algorithm, it used the genetic operator to guide the solution of search direction. The algorithm achieved the minimum spatial distribution entropy through the new population of iterations, after which the coarse registration of point cloud was achieved by decoding the optimal individuals. The experimental results show that the algorithm is effective and feasible, and it can overcome the problem that traditional method can't provide a good initial position when the defects and noise exist in the point cloud. The algorithm can directly realize point cloud registration within the acceptable error range.

Foundation Support

四川省教育厅科研基金资助项目(14ZB0111)
国家教育部共建重点实验室开放基金资助项目(14tdzk06)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2017.03.0642
Publish at: Application Research of Computers Printed Article, Vol. 36, 2019 No. 1
Section: Technology of Graphic & Image
Pages: 316-320
Serial Number: 1001-3695(2019)01-073-0316-05

Publish History

[2019-01-05] Printed Article

Cite This Article

陈杰, 蔡勇, 张建生. 基于熵准则遗传算法的点云配准算法 [J]. 计算机应用研究, 2019, 36 (1): 316-320. (Chen Jie, Cai Yong, Zhang Jiansheng. Point cloud registration based on entropy criterion genetic algorithm [J]. Application Research of Computers, 2019, 36 (1): 316-320. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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