ALGORITHM OF INCONGRUENT POINT CLOUD REGISTRATION
A.Yu. Makovetskii, S. M. Voronin, V. I. Kober, A. V. Voronin
Chelyabinsk State University, Chelyabinsk, Russia
Keywords: Point clouds, three-dimensional space, coarse registration, descriptor, orthogonal transformation
Abstract
The goal of registering point clouds in a 3D space is to find an orthogonal transformation that maximizes the consistent overlap of two point clouds. The most common registration method using purely geometric characteristics is the Iterative Closest Points (ICP) algorithm. The disadvantage of the classical ICP variants is the dependence on the initial location of the point clouds. Coarse registration algorithms are used to find a suitable initial registration of two clouds. In this paper, we propose a new algorithm for extracting common parts and coarse registration of point clouds.
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