Hybrid Global optimization Methods and Iterative Closest Point on Point-based Approach for 3D Registration

Linh Tao, Tinh Nguyen, Trung Nguyen, Tam Bui

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a novel approach to solve pair-wise registration problem which aligns different pointclouds taken from the same object or scenario at different angles. The new method uses points as a searching medium replacing convention six-dimensional one. By doing this, the number of searching dimensions is significantly reduced. Using the same number of searching loops, the new method results in a higher convergence rate into global optimal results. The approach is successfully implemented in a hybrid registration strategy which combines Iterative Closest Point (ICP) as a local aligning tool and a global searching algorithm such as state-of-the-arts including Simulated Annealing, Particle Swarm optimization, Differential Evolution or a recently developed adaptive Differential Evolution algorithm, ISADE. The accuracy and robustness of the new method over the conventional approach are proved through various experiments on different datasets.

Original languageEnglish
Title of host publication2020 International Conference on Advanced Mechatronic Systems, ICAMechS 2020
PublisherIEEE Computer Society
Pages192-197
Number of pages6
ISBN (Electronic)9781728165301
DOIs
Publication statusPublished - 2020 Dec 10
Externally publishedYes
Event2020 International Conference on Advanced Mechatronic Systems, ICAMechS 2020 - Hanoi, Viet Nam
Duration: 2020 Dec 102020 Dec 13

Publication series

NameInternational Conference on Advanced Mechatronic Systems, ICAMechS
Volume2020-December
ISSN (Print)2325-0682
ISSN (Electronic)2325-0690

Conference

Conference2020 International Conference on Advanced Mechatronic Systems, ICAMechS 2020
CountryViet Nam
CityHanoi
Period20/12/1020/12/13

Keywords

  • 3D Registration
  • Global Searching
  • Hybrid Registration
  • ICP
  • Point-based Registration

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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