Cow point cloud registration based on improved dolphin echolocation algorithm
Aiming at the problems of low registration accuracy of animal point clouds and the need to manually set parameters,this paper proposed a precise registration method for cow point clouds from top to side view based on improved dolphin echolocation algorithm.Two strategies were used to improve the original algorithm:Strategy 1 improved the symmetric linear coefficient function to a nonlinear function;Strategy 2 dynamically adjusted the influence radius,introduced memory matrix and reduced the range of variable values for secondary discretization.According to the characteristics of less overlapping areas of point clouds from different perspectives of cows after coarse registration,the fitness function was established based on the centroid of overlapping areas of point clouds slices after coarse registration.An improved dolphin echolocation algorithm was used to test the precise registration of 106 cow point clouds.The results showed that compared with the standard dolphin echolocation algorithm,the registration error and registration time of strategy 1 were reduced by 27%and 28%respectively.Using strategy 2,the mean registration error were reduced by 56%and the registration time was increased by 30%.The mean and median registration errors of the proposed algorithm are 0.51 cm and 0.49 cm,which were 64%and 58%lower than that of the original algorithm,respectively.The average registration time was 1.31 s,which was slightly lower than that of the original algorithm.The proposed method can accurately realize the automatic registration of the overhead and side-view point clouds of cows,which provides technical support for animal 3D point cloud reconstruction.
cow3D point cloudregistrationdolphin echolocation algorithm
NETL
NSTL
万方数据
