Virtual Namesake Point Multi-Source Point Cloud Data Fusion Based on FPFH Feature Difference

Li Zheng

doi:10.3390/s21165441

2021-08-12

郑莉 (Li Zheng) *

Zhukun Li

DOI：10.3390/s21165441

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摘要

En 中文

There are many sources of point cloud data, such as the point cloud model obtained after a bundle adjustment of aerial images, the point cloud acquired by scanning a vehicle-borne light detection and ranging (LiDAR), the point cloud acquired by terrestrial laser scanning, etc. Different sensors use different processing methods. They have their own advantages and disadvantages in terms of accuracy, range and point cloud magnitude. Point cloud fusion can combine the advantages of each point cloud to generate a point cloud with higher accuracy. Following the classic Iterative Closest Point (ICP), a virtual namesake point multi-source point cloud data fusion based on Fast Point Feature Histograms (FPFH) feature difference is proposed. For the multi-source point cloud with noise, different sampling resolution and local distortion, it can acquire better registration effect and improve the accuracy of low precision point cloud. To find the corresponding point pairs in the ICP algorithm, we use the FPFH feature difference, which can combine surrounding neighborhood information and have strong robustness to noise, to generate virtual points with the same name to obtain corresponding point pairs for registration. Specifically, through the establishment of voxels, according to the F2 distance of the FPFH of the target point cloud and the source point cloud, the convolutional neural network is used to output a virtual and more realistic and theoretical corresponding point to achieve multi-source Point cloud data registration. Compared with the ICP algorithm for finding corresponding points in existing points, this method is more reasonable and more accurate, and can accurately correct low-precision point cloud in detail. The experimental results show that the accuracy of our method and the best algorithm is equivalent under the clean point cloud and point cloud of different resolutions. In the case of noise and distortion in the point cloud, our method is better than other algorithms. For low-precision point cloud, it can better match the target point cloud in detail, with better stability and robustness.

Keyword:

iterative closest point

fast point feature histograms

virtual namesake point

point cloud registration