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《Journal of Sichuan University(Engineering Science Edition)》 2014-05
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Fully Automatic Point Cloud Registration Algorithm Based on CEGI and Fourier Transformation

HUANG Ge;LI Xiaofeng;College of Computer Sci.,Sichuan Univ.;State Key Lab. of Fundamental Sci. on Synthetic Vision,Sichuan Univ.;  
A fully automatic point cloud data registration algorithm was proposed to disorderly point cloud with no additional information other than coordinates of measured points. In the algorithm,the normal vector and curvature were first estimated according to its neighbor points and Least-Squares approximation. Secondly,the EGI and CEGI were calculated. Then,the calculation of Euler angles of rotation through spherical harmonic functions and the translation according to Fourier transform were completed. With the initialization of the former results,the iterative closest point algorithm leads to perfect registration. Experimental results indicated that this kind of registration algorithm has a better effect.
【Fund】: 国家高技术研究发展计划资助项目(2012AA011804;2013AA013802);; 国家重大科学仪器设备开发专项资助项目(2013YQ49087905);; 四川大学青年教师科研启动基金资助项目(2011SCU11013)
【CateGory Index】: TP391.41
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