Robust Registration Method of 3D Point Cloud Data

Sungho Suh, Hansang Cho, Donglok Kim

2016

Abstract

3D point cloud data is used for 3D model acquisition, geometry processing and 3D inspection. Registration of 3D point cloud data is crucial for each field. The difference between 2D image registration and 3D point cloud registration is that the latter requires several things to be considered: translation on each plane, rotation, tilt and etc. This paper describes a method of registering 3D point cloud data with noise. The relationship between the two sets of 3D point cloud data can be obtained by Affine transformation. In order to calculate 3D Affine transformation matrix, corresponding points are required. To find the corresponding points, we use the height map which is projected from 3D point cloud data onto XY plane. We formulate the height map matching as a cost function and estimate the corresponding points. To find the proper 3D Affine transformation matrix, we formulate a cost function which uses the relationship of the corresponding points. Also the proper 3D Affine transformation matrix can be calculated by minimizing the cost function. The experimental results show that the proposed method can be applied to various objects and gives better performance than the previous work.

Paper Citation

in Harvard Style

Suh S., Cho H. and Kim D. (2016). Robust Registration Method of 3D Point Cloud Data . In Proceedings of the 5th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM, ISBN 978-989-758-173-1, pages 630-637. DOI: 10.5220/0005750606300637

in Bibtex Style

@conference{icpram16,
author={Sungho Suh and Hansang Cho and Donglok Kim},
title={Robust Registration Method of 3D Point Cloud Data},
booktitle={Proceedings of the 5th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,},
year={2016},
pages={630-637},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005750606300637},
isbn={978-989-758-173-1},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 5th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,
TI - Robust Registration Method of 3D Point Cloud Data
SN - 978-989-758-173-1
AU - Suh S.
AU - Cho H.
AU - Kim D.
PY - 2016
SP - 630
EP - 637
DO - 10.5220/0005750606300637