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15th International Conference on High Performance Computing & Simulation (HPCS)

作者： Attia, Mouna Slama, Yosr Univ Tunis El Manar Fac Sci Tunis Lab URAPOP Tunis 2092 Tunisia

ISBN: (纸本)9781538632505

The standard Iterative Closest Point (icp) algorithm is a robust and efficient rigid registration algorithm for 3D point clouds. Nevertheless, its efficiency notably decreases when applied to a large transformation cases. In order to avoid this drawback and improve its performance, we propose a new 3-step approach based on icp and point Cloud Projection, called icp-CP, that both enhances the accuracy in most cases and reduces the execution time. The first step consists in the determination of the best projection plane that preserves the topological structure of the point cloud. In the second, we compute an initial guess using the projected points. As to the third, it performs successive iterations until reaching the best transformation. The novelty of our approach is the use of the projected points that aims to find an adequate initialization for the icp algorithm to ensure a fast convergence. We achieve a series of experimentations on both benchmarks and real clouds in order to validate our contribution and prove that, in most cases, the proposed algorithm is more accurate and robust than the standard icp in a variety of situations, namely in case of large translation, large rotation and the both simultaneously.

关键词： 3D point cloud icp algorithm initial guess large transformation PCA projection registration

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icp Registration Technology based on the Coordinate System Direction Fit

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INTERNATIONAL JOURNAL OF SECURITY AND ITS APPLICATIONS 2015年第12期9卷 47-56页

作者： Tian, Heqiang Yang, Peng Su, Chunjian Dong, Zhiqiang Shandong Univ Sci & Technol Coll Mech & Elect Engn Qingdao 266590 Peoples R China West Coast Dev Grp Co Ltd Qingdao Qingdao 266590 Peoples R China

In computer assisted surgery, one of the most important problems is to align the preoperative model with intraoperative data. The Iterative Closest Point (icp) algorithm is undoubtedly the most popular algorithm for solving this kind of problem, which needs a good initialization. In this paper, an icp algorithm based on the coordinate system direction fit is present to improve icp algorithm's shortcoming with easily falling into local optimum for intraoperative registration. Firstly, icp registration algorithm and its problems are introduced. Secondly, based on the consistency between CT scans pose and surgical pose, a three-plane coordinate system on patients is established to reduce the rotation dislocation between CT image space and patient space. Then, an icp algorithm experiment and its precision analysis are conducted. Finally, the error analysis is also given. The experimental results show that one of the benefits of the icp algorithm based on the coordinate system direction fit is that it is easily convergent on the registration by a three-plane coordinate system on patients, which increases the registration accuracy and reduces the computational processing time

关键词： Intraoperative registration icp algorithm Coordinate direction fit Three-plane coordinate system

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Robot Localization Using Laser Positioning of Reflectors Based on icp 33

Robot Localization Using Laser Positioning of Reflectors Bas...

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33rd Chinese Control and Decision Conference (CCDC)

作者： Yu, Jingge Shen, Anwen Luo, Xin Xiao, Tianzouzi Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China

ISBN: (纸本)9781665440899

In this paper, the global localization for a mobile robot in the environment with reflectors arranged in advance is studied. The robot is equipped with a laser that allows to acquire the range and bearing information of the robot with respect to reflectors. After reflector matching, the global pose of the robot can be calculated by localization methods. Focusing on the localization method, a novel laser positioning method based on icp (Iterative Nearest Point) is proposed, which realizes global localizations by constructing the rigid transformation between reflector sets for two continuous scanning time. In addition, compared with the original icp algorithm that dealing with point cloud sets, the proposed method has less computation and needs no iteration. The implementation process of the proposed method is derived, and the proposed method is compared with the widely used trilateral localization methods. Experimental results show that our method has higher accuracy and better stability than trilateral positioning method.

关键词： global localization laser reflectors icp algorithm trilateral positioning

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Multi-scale EM-icp: A fast and robust approach for surface registration 7

Multi-scale EM-ICP: A fast and robust approach for surface r...

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7th European Conference on Computer Vision (ECCV 2002)

作者： Granger, S Pennec, X INRIA Epidaure Project Sophia Antipolis France AREALL Neuilly Sur Seine France

ISBN: (纸本)3540437487

We investigate in this article the rigid registration of large sets of points, generally sampled from surfaces. We formulate this problem as a general Maximum-Likelihood (ML) estimation of the transformation and the matches. We show that, in the specific case of a Gaussian noise, it corresponds to the Iterative Closest Point algorithm (icp) with the Mahalanobis distance. Then, considering matches as a hidden variable, we obtain a slightly more complex criterion that can be efficiently solved using Expectation-Maximization (EM) principles. In the case of a Gaussian noise, this new methods corresponds to an icp with multiple matches weighted by normalized Gaussian weights, giving birth to the EM-icp acronym of the method. The variance of the Gaussian noise is a new parameter that can be viewed as a "scale or blurring factor" on our point clouds. We show that EM-icp robustly aligns the barycenters and inertia moments with a high variance, while it tends toward the accurate icp for a small variance. Thus, the idea is to use a multi-scale approach using an annealing scheme on this parameter to combine robustness and accuracy. Moreover, we show that at each "scale", the criterion can be efficiently approximated using a simple decimation of one point set, which drastically speeds up the algorithm. Experiments on real data demonstrate a spectacular improvement of the performances of EM-icp w.r.t. the standard icp algorithm in terms of robustness (a factor of 3 to 4) and speed (a factor 10 to 20), with similar performances in precision. Though the multiscale scheme is only justified with EM, it can also be used to improve icp, in which case the performances reaches then the one of EM when the data are not too noisy.

关键词： surface registration icp algorithm EM algorithm multiscale

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LiDAR Point Cloud Registration based on Improved icp Method and SIFT Feature 3

LiDAR Point Cloud Registration based on Improved ICP Method ...

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3rd IEEE International Conference on Progress in Informatcs and Computing (IEEE PIC)

作者： Zheng, Zhongyang Li, Yan Jun, Wang Natl Univ Def Technol Coll Mechatron & Automat Changsha 410073 Hunan Peoples R China

ISBN: (纸本)9781467390880

With the increasing demand of unmanned combat system in the information war in the future and the development of sensors, LiDAR is widely applied to acquire environmental information for unmanned ground system as an important sensor. In this paper, an improved iterative closest point (icp) algorithm for solving the registration problem is researched. It is found that the existence of error corresponding points has a serious impact on the registration results after analyzing the traditional icp algorithm. The image information is fused into the improved algorithm and the SIFT feature of the image is collected. The SIFT feature point is used as corresponding point in the process of the improved icp algorithm in order to reduce the error corresponding points. The reducing of the closest point search improves the accuracy and efficiency of the icp algorithm. From simulations, the better performance of the proposed method is achieved in terms of the registration results.

关键词： SIFT feature icp algorithm LiDAR point cloud error evaluation function

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Fast global registration of 3D sampled surfaces using a multi-z-buffer technique

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IMAGE AND VISION COMPUTING 1999年第2期17卷 113-123页

作者： Benjemaa, R Schmitt, F Ecole Natl Super Telecommun Bretagne Images Dept CNRS URA 820 F-75634 Paris 13 France

We present a new method for the global registration of several overlapping three-dimensional (3D) surfaces sampled on an object. The method is based on the icp algorithm and on a segmentation of the unstructured sampled points in an optimized set of z-buffers. This multi-z-buffer technique provides a 3D space partitioning which allows the registration process to detect quickly all the overlapping surfaces and to concentrate on them even when the surfaces overlap each other only slightly. It also greatly accelerates the search of the nearest neighbours in the establishment of the point-to-point correspondence between two overlapping surfaces. Then a randomized iterative registration is processed on the surface set. We have tested an implementation of this technique on real sampled surfaces. It appears to be rapid, accurate and robust, especially in the case of highly curved objects. (C) 1999 Elsevier Science B.V. All rights reserved.

关键词： global registration 3D data matching icp algorithm 3D digital imaging 3D surface partitioning

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Research on adaptive CNC machining arithmetic and process for near-net-shaped jet engine blade

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JOURNAL OF INTELLIGENT MANUFACTURING 2020年第3期31卷 717-744页

作者： Wu, Dongbo Wang, Hui Zhang, Kaiyao Zhao, Bing Lin, Xiaojun Tsinghua Univ Dept Mech Engn State Key Lab Tribol Beijing Key Lab Precis Ultraprecis Mfg Equipment Beijing 100084 Peoples R China Yantai Univ Yantai 264005 Shandong Peoples R China Northwestern Polytech Univ Xian 710072 Shaanxi Peoples R China

Near-net-shaped jet engine blade machining process have better performance on both reducing material waste during production and improving work reliability in service, while precision machining of this blade is very challengeable and difficult due to its positioning difficulty and low stiffness. This paper propose that reasonable fixture and adaptive CNC machining technology can provide a systematic solution for the machining of near-net-shaped blade Tenon root, tip and Leading edges and Trailing edges (LTE). Firstly, process characteristics, difficulties and requirements of near-net-shaped blade are analyzed. Secondly, adaptive CNC machining process and its key technical principles are introduced and optimized, and proposes measuring bad points culling algorithm of simultaneously using distance relationship, angle relationship and radius relationship, and proposes camber line calculation algorithm of equidistant offset, and optimizes the iterative closest point (icp) algorithm based on point-to-line icp algorithm with six control points, and realizes the reconstruction of processing model. Finally, the feasibility of the proposed adaptive CNC machining process and the designed Polyetheretherketone (PEEK-GF30) material and multi-points support rigid-flexible coupling fixture are verified by a typical near-net-shaped blade LTE and Tenon root adaptive CNC machining process experiments. The results shows that the proposed process scheme of reasonable fixture and adaptive CNC machining process can solve two problems of near-net-shaped blade manufacturing of position difficulty and low stiffness. The designed fixture of PEEK-GF30 material and multi-point support rigid-flexible coupling, and the optimized adaptive CNC machining process algorithms can realize high-precision manufacturing of near-net-shaped jet engine blade.

关键词： Adaptive CNC machining process Measuring bad points culling algorithm Camber line calculation algorithm icp algorithm Near-net-shaped blade Rigid-flexible coupling fixture

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On the representation of rigid body transformations for accurate registration of free-form shapes

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ROBOTICS AND AUTONOMOUS SYSTEMS 2002年第1期39卷 37-52页

作者： Rodrigues, MA Liu, YH Sheffield Hallam Univ Sch Comp & Management Sci Ctr Res Comp Sheffield S1 1WB S Yorkshire England Univ Wales Dept Comp Sci Aberystwyth Dyfed Wales

In this paper we consider representation issues of rigid body transformations based on geometric properties of reflected correspondence vectors. A sufficient and necessary representation of rigid body transformations is put forward followed by an accurate and robust algorithm for the registration of free-form surfaces. The algorithm makes fall use of global rigid motion constraints derived from the representation of rigid body transformations and can effectively deal with occlusion, noise, and appearance and disappearance of points. A comparative study based on both synthetic data and real images show that the registration method is accurate and robust. (C) 2002 Published by Elsevier Science B.V.

关键词： rigid body transformation rigid motion constraints reflected correspondence icp algorithm range image registration

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Efficient registration for precision inspection of free-form surfaces

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2007年第5-6期32卷 505-515页

作者： Zhu, Liang Barhak, Jacob Srivatsan, Vijay Katz, Reuven Univ Michigan Coll Engn NSF Engn Res Ctr Reconfigurable Mfg Syst Ann Arbor MI 48109 USA

Precision inspection of free-form surface is difficult with current industry practices that rely on accurate fixtures. Alternatively, the measurements can be aligned to the part model using a geometry-based registration method, such as the iterative closest point (icp) method, to achieve a fast and automatic inspection process. This paper discusses various techniques that accelerate the registration process and improve the efficiency of the icp method. First, the data structures of approximated nearest nodes and topological neighbor facets are combined to speed up the closest point calculation. The closest point calculation is further improved with the cached facets across iteration steps. The registration efficiency can also be enhanced by incorporating signal-to-noise ratio into the transformation of correspondence sets to reduce or remove the noise of outliers. Last, an acceleration method based on linear or quadratic extrapolation is fine-tuned to provide the fast yet robust iteration process. These techniques have been implemented on a four-axis blade inspection machine where no accurate fixture is required. The tests of measurement simulations and inspection case studies indicated that the presented registration method is accurate and efficient.

关键词： optical inspection registration between point set and CAD model icp algorithm approximated nearest node simulated measurement

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Effect of different registration methods on precision of orientation based on RTK registration/georeferencing mode

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MARINE GEORESOURCES & GEOTECHNOLOGY 2020年第4期38卷 385-392页

作者： Hu, Shengming Liu, Zhen Chen, Zhijian Wan, Chenghui Tang, Chun Xiong, Wen Nanchang Inst Technol Jiangxi Engn Res Ctr Water Engn Safety & Resource Nanchang Jiangxi Peoples R China Nanchang Inst Technol Natl & Prov Joint Engn Lab Hydraul Engn Safety & Nanchang Jiangxi Peoples R China Terracon Consultants Inc Greenville SC 29615 USA Hohai Univ Sch Earth Sci & Engn Nanjing Peoples R China Southeast Univ Sch Transportat Dept Bridge Engn Nanjing Peoples R China

Compared with traditional methods, the three-dimensional laser-scanning (3D-LS) technique can efficiently acquire many high-quality geometric properties of rock discontinuities. In practice, engineers usually prefer to simplify the processing by using single-station point data and roughly orienting owing to the complexity of registration/georeferencing multi-station point data. However, prior published studies have paid little attention to the accuracy and reliability when determining discontinuity orientations using 3D-LS. We propose a reliable and accurate method with robust on-site applicability. As part of an ongoing effort, we are evaluating the precision of the commonly used coarse registration method and the fine registration method, and promoted the optimized coarse- and fine-registration methods and evaluated their precision. It is found that: (1) the common and the optimized registration method can meet our project's engineering requirements, and the optimized registration method improved accuracy in the dip direction by approximately 1 degrees;(2) fine registration using an iterative closest point (icp) algorithm can correct both dip direction and dip angle;and (3) the orientation is of high precision with commonly used coarse and fine registration, whereas the optimization effect to correct the orientation is slightly limited.

关键词： 3D laser scanning rock discontinuities orientation RTK registration icp algorithm

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