Imaging Components, Systems, and Processing

Registration of partially overlapping laser-radar range images

[+] Author Affiliations
Dan Lv

Harbin Institute of Technology, Institute of Opto-Electronics, National Key Laboratory of Science and Technology on Tunable Laser, No. 2, YiKuang Street, Harbin 150080, China

Qiqihar University, College of Applied Technology, No. 42 Culture Street, Qiqihar 161006 China

Jian-Feng Sun, Qi Li, Qi Wang

Harbin Institute of Technology, Institute of Opto-Electronics, National Key Laboratory of Science and Technology on Tunable Laser, No. 2, YiKuang Street, Harbin 150080, China

Opt. Eng. 54(10), 103113 (Oct 28, 2015). doi:10.1117/1.OE.54.10.103113
History: Received April 27, 2015; Accepted October 7, 2015
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Abstract.  To register partially overlapping three-dimensional point sets from different viewpoints, it is necessary to remove spurious corresponding point pairs that are not located in overlapping regions. Most variants of the iterative closest point (ICP) algorithm require users to manually select the rejection parameters for discarding spurious point pairs between the registering views. This requirement often results in unreliable and inaccurate registration. To overcome this problem, we present an improved ICP algorithm that can automatically determine the rejection percentage to reliably and accurately align partially overlapping laser-radar (ladar) range images. The similarity of k neighboring features of each nonplanar point is employed to determine reasonable point pairs in nonplanar regions, and the distance measurement method is used to find reasonable point pairs in planar regions. The rejection percentage can be obtained from these two sets of reasonable pairs. The performance of our algorithm is compared with that of five other algorithms using various models with low and high curvatures. The experimental results show that our algorithm is more accurate and robust than the other algorithms.

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© 2015 Society of Photo-Optical Instrumentation Engineers

Topics

LIDAR ; Clouds ; Algorithms

Citation

Dan Lv ; Jian-Feng Sun ; Qi Li and Qi Wang
"Registration of partially overlapping laser-radar range images", Opt. Eng. 54(10), 103113 (Oct 28, 2015). ; http://dx.doi.org/10.1117/1.OE.54.10.103113


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