Engineering Commons^™

Variable Scale Point Cloud Registration Algorithm, Shuifa Sun, Zhun Li, Kun Xia, Yunfei Shi, Jiquan Yang, Fangmin Dong

Journal of System Simulation

Abstract: To address the low registration accuracy issue caused by scale mismatch of two point clouds, a multi-scale point cloud registration algorithm is proposed based on the distance ratio invariance of the geometric center of gravity and centroid. The point cloud is firstly filtered. Then, the scale ratio calculation model of the point cloud data is established by computing the point cloud’s gravity center and centroid. Finally, according to the relationship between the registration error and the scale true value, the scale factor is refined step by step with ICP algorithm. For the noise and the inconsistent point in the …