THREE-DIMENSIONAL POINT-CLOUD REGISTRATION USING A GENETIC ALGORITHM AND THE ITERATIVE CLOSEST POINT ALGORITHM

D. Torres, F. J. Cuevas

2011

Abstract

We present a method for three-dimensional surface registration which utilizes a Genetic Algorithm (GA) to perform a coarse alignment of two scattered point clouds followed by a slight variation of the Iterative Closest Point (ICP) algorithm for a final fine-tuning. In this work, in order to improve the time of convergence, a sampling method consisting of three steps is used: 1) sample over the geometry of the clouds based on a gradient function to remove easily interpolating singularities; 2) a random sampling of the clouds and 3) a final sampling based on the overlapping areas between the clouds. The presented method requires no more than 25% of overlapping surface between the two scattered point clouds and no rotational or translational information is needed. The proposed algorithm has shown a good convergence ratio with few generations and usability through automated applications such as object digitalization and reverse engineering.

Paper Citation

in Harvard Style

Torres D. and J. Cuevas F. (2011). THREE-DIMENSIONAL POINT-CLOUD REGISTRATION USING A GENETIC ALGORITHM AND THE ITERATIVE CLOSEST POINT ALGORITHM . In Proceedings of the International Conference on Evolutionary Computation Theory and Applications - Volume 1: FEC, (IJCCI 2011) ISBN 978-989-8425-83-6, pages 547-552. DOI: 10.5220/0003718405470552

in Bibtex Style

@conference{fec11,
author={D. Torres and F. J. Cuevas},
title={THREE-DIMENSIONAL POINT-CLOUD REGISTRATION USING A GENETIC ALGORITHM AND THE ITERATIVE CLOSEST POINT ALGORITHM},
booktitle={Proceedings of the International Conference on Evolutionary Computation Theory and Applications - Volume 1: FEC, (IJCCI 2011)},
year={2011},
pages={547-552},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003718405470552},
isbn={978-989-8425-83-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Evolutionary Computation Theory and Applications - Volume 1: FEC, (IJCCI 2011)
TI - THREE-DIMENSIONAL POINT-CLOUD REGISTRATION USING A GENETIC ALGORITHM AND THE ITERATIVE CLOSEST POINT ALGORITHM
SN - 978-989-8425-83-6
AU - Torres D.
AU - J. Cuevas F.
PY - 2011
SP - 547
EP - 552
DO - 10.5220/0003718405470552