Initial alignment for point cloud registration by improved differential evolution algorithm

被引：8
|
作者：
Liu, Hai [1 ,2 ]
Wang, Shulin [1 ]
Zhao, Donghong [2 ]
机构：
[1] Jiangsu Univ, Mech Sch, Zhenjiang 212013, Jiangsu, Peoples R China
[2] Yangzhou Polytech Inst, Yangzhou 225127, Jiangsu, Peoples R China
来源：
OPTIK | 2021年 / 243卷
基金：
中国国家自然科学基金;
关键词：
Initial alignments; Coarse registration; Point cloud; Differential evolution algorithm; HISTOGRAMS;
D O I：
10.1016/j.ijleo.2021.166856
中图分类号：
O43 [光学];
学科分类号：
070207 ; 0803 ;
摘要：
Aiming at the shortcomings of traditional point cloud registration algorithms, a point cloud initial alignment method based on the differential evolution algorithm is proposed. By designing an appropriate fitness function and selecting a proper evolution strategy, the probability and speed of finding the globally optimal solution are improved. Finally, the point to plane iterative closest point is used to complete the precise registration. Experimental results prove that the speed and robustness of the algorithm put forward here are improved.
引用
收藏
页数：6
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