Point cloud registration method based on reliable optimal transport
For some existing registration methods still suffer from poor accuracy and low efficiency in low overlap conditions,a registration method based on reliable optimal transport is proposed.Firstly,the key points and their feature information are used to form point pairs.The sample consensus algorithm is adopted to reject the wrong point pairs and complete the coarse registration.The initial reliable points are identified while optimizing original position.Secondly,in the process of solving the optimal transport for fine registration,the reliable points involved in the transmission are dynamically adjusted according to the iteration of transport plan and update strategy,which guarantees efficiency and reliability of the registration.To verify the effectiveness of the proposed method,some models in the Stanford standard graphics library and 3DMatch dataset are selected as registration objects,and the proposed method is compared with three common types of registration methods.Experiments results prove that the proposed method improves the accuracy by more than 30%and reduces the running time by more than 25%,which can still maintain excellent registration results in the case of several types of models and various missing conditions.
point cloud registrationlow overlapreliable pointsoptimal transport
国家科技期刊平台
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