In accordance with regulations and requirements, the editorial department's website domain has been changed to arocmag.cn. The original domain (arocmag.com) will be discontinued after Dec. 31st, 2024.
See More
Technology of Graphic & Image
|
App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 2
637-640

Point cloud registration method based on normal vector voting

Zhou Ying
Lin Yi
School of Artificial Intelligence & Computer Science, Jiangnan University, Wuxi Jiangsu 214122, China
DOI: 10.19734/j.issn.1001-3695.2021.06.0236

Abstract

Aiming at the problems of poor robustness and easy convergence to local optimal solution of traditional point cloud registration methods for objects with multi-planar structures, this paper proposed a point cloud registration method based on normal vector voting. It used planar features instead of point features as registration primitives to establish a coordinate transformation model. Firstly, it constructed kd-tree, and calculated the normal vector of each point, converted the normal vector to the Hough space and voted to extract the planar features. Then, it used the unit quaternions as feature description operators, and used conjugate planes as constraints. According to the least square adjustment principle, it solved the pose transformation relationship between point clouds. Experimental results show that, compared with the other two methods, the proposed method does not depends on the initial position, and can effectively avoid local minimum trapping in the registration process, and improves the registration accuracy.

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.06.0236
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 2
Section: Technology of Graphic & Image
Pages: 637-640
Serial Number: 1001-3695(2022)02-056-0637-04

Publish History

[2021-08-31] Accepted Paper
[2022-02-05] Printed Article

Cite This Article

周颖, 林意. 基于法向量投票的点云配准方法 [J]. 计算机应用研究, 2022, 39 (2): 637-640. (Zhou Ying, Lin Yi. Point cloud registration method based on normal vector voting [J]. Application Research of Computers, 2022, 39 (2): 637-640. )

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.

Indexed & Evaluation

  • The Second National Periodical Award 100 Key Journals
  • Double Effect Journal of China Journal Formation
  • the Core Journal of China (Peking University 2023 Edition)
  • the Core Journal for Science
  • Chinese Science Citation Database (CSCD) Source Journals
  • RCCSE Chinese Core Academic Journals
  • Journal of China Computer Federation
  • 2020-2022 The World Journal Clout Index (WJCI) Report of Scientific and Technological Periodicals
  • Full-text Source Journal of China Science and Technology Periodicals Database
  • Source Journal of China Academic Journals Comprehensive Evaluation Database
  • Source Journals of China Academic Journals (CD-ROM Version), China Journal Network
  • 2017-2019 China Outstanding Academic Journals with International Influence (Natural Science and Engineering Technology)
  • Source Journal of Top Academic Papers (F5000) Program of China's Excellent Science and Technology Journals
  • Source Journal of China Engineering Technology Electronic Information Network and Electronic Technology Literature Database
  • Source Journal of British Science Digest (INSPEC)
  • Japan Science and Technology Agency (JST) Source Journal
  • Russian Journal of Abstracts (AJ, VINITI) Source Journals
  • Full-text Journal of EBSCO, USA
  • Cambridge Scientific Abstracts (Natural Sciences) (CSA(NS)) core journals
  • Poland Copernicus Index (IC)
  • Ulrichsweb (USA)