Can I read Automatic Registration Algorithm for the Point Clouds Based on the Optimized RANSAC and IWOA Algorithms for Robotic Manufacturing on EtoBox?

Automatic Registration Algorithm for the Point Clouds Based on the Optimized RANSAC and IWOA Algorithms for Robotic Manufacturing by Guanglei Li; Yahui Cui; Lihua Wang; Lei Meng is a Engineering article available to read on EtoBox.

What is Automatic Registration Algorithm for the Point Clouds Based on the Optimized RANSAC and IWOA Algorithms for Robotic Manufacturing about?

In order to solve the problems of low accuracy and low efficiency of point cloud registration for stereo camera systems, we propose a binocular stereo camera point cloud registration method based on IWOA and Improved ICP. We propose the following approaches in this paper—the registration process is divided into two steps to complete the initial coarse registration and the exact registration. In the initial registration stage, an improved Whale Optimization Algorithm (IWOA) based on nonlinear convergence factor and adaptive weight coefficients was proposed to realize the initial registration in combination with the RANSAC algorithm, and the obtained transformation matrix was used as the initial estimate of the subsequent exact registration algorithm. In the second step of the exact registration stage, an IICP algorithm with the introduction of normal vector weighting constraints at key points was proposed for achieving point cloud exact registration. This algorithm was verified by using Stanford point clouds (bunnies and monkeys) and our own point clouds algorithm, and the proposed algorithm in this paper has high registration accuracy, improved registration speed, and convergence s

Who reads Automatic Registration Algorithm for the Point Clouds Based on the Optimized RANSAC and IWOA Algorithms for Robotic Manufacturing?

Author

Guanglei Li; Yahui Cui; Lihua Wang; Lei Meng

Publisher

MDPI AG

Published

2022

Language

EN

Field

Engineering (Physical Sciences)