Fast and Automatic Registration of Terrestrial Point Clouds Using 2D Line Features
Abstract
:1. Introduction
- (1)
- A 2D line feature extraction method is proposed. Because we process the point clouds in 2D space, the method is computationally efficient.
- (2)
- A method is formulated to search the line correspondences and calculate the 2D transformation.
- (3)
- A method is developed to calculate the displacement along z-axis.
- (4)
- Finally, a registration method based on the 2D line features is presented. Owing to the use of the 2D line features, the registration method has relatively good time efficiency.
2. D Line Extraction
3. Point Cloud Registration with 2D Line Features
3.1. 2D Transformation Calculation
3.2. The Calculation of the Displacement along the Z-axis
4. Experiments and Results
4.1. Evaluation Criterion of Registration Accuracy
4.2. Registration Results on the Indoor Dataset
4.3. Registration Results on the Outdoor Dataset
5. Conclusions
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
Appendix A
Algorithm 1: 2D line extraction |
Input: Point cloud |
Output: the parameters of all extracted lines |
1: Calculate the fitting residual of each point. |
2: |
3: for to the preset maximal number of iterations do |
4: find the point with the minimum fitting residual . |
5: the initial seed region . |
6: the initial added points |
7: remove the from the point cloud . |
8: for =1 to the preset maximal number of iterations do |
9: find the neighbors of . |
10: for =1 to size() do |
11: is the point in . |
12: perform line fitting on by singular value decomposition. |
13: if the distance from to the fitted line is smaller than then |
14: . |
15: remove from the point cloud . |
15: end if |
16: end for |
17: if no point can be added into then break; |
18: end if |
19: is updated as the newly added points in . |
20: end for |
21: |
22: if the minimum fitting residual is bigger than then |
23: break; |
24 end if |
25: end for |
Appendix B
Algorithm 2: 2D transformation calculation |
Input: the line sets and , the pair sets and , and the cosine values and . |
Output: the 2D transformation . |
1: Set the initial overlap: . |
2: for =1 to do |
3: for =1 to do |
4: if then |
5: Use the two pairs and to compute two 2D transformations. |
6: Calculate the two overlaps between and corresponding to the two 2D transformations. |
7: Preserve the 2D transformation with the big overlap . |
8: if then |
9: The 2D transformation . |
10: |
11: end if |
12: end if |
13: end for |
14: end for |
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Method | Point-Based | Plane-Based | Ours | |||
---|---|---|---|---|---|---|
Ap | Bo | Ap | Bo | Ap | Bo | |
Rotation error | 0.9756 | 0.2798 | 0.1454 | 0.2533 | 0.0560 | 0.5219 |
Horizontal error | 0.3933 | 0.3363 | 0.0360 | 0.1961 | 0.0119 | 0.0542 |
Vertical error | 0.0367 | 0.0244 | 0.0101 | 0.0163 | 0.0035 | 0.0047 |
Method | Point-Based | Plane-Based | Ours | |||
---|---|---|---|---|---|---|
Ap | Bo | Ap | Bo | Ap | Bo | |
Number of features | 2892 vs. 4255 | 2073 vs. 2878 | 20 vs. 15 | 17 vs. 25 | 31 vs. 33 | 23 vs. 27 |
(s) | 190.6316 | 56.7230 | 1239.3671 | 531.2027 | 6.6306 | 4.7974 |
(s) | 527.4623 | 374.7924 | 184.3647 | 393.2501 | 82.2310 | 38.9694 |
(s) | 142.7769 | 70.0760 | 31.7702 | 134.0434 | 86.5453 | 71.3934 |
(s) | 860.8708 | 501.5914 | 1455.5020 | 1058.4962 | 175.4069 | 115.1602 |
Method | Point-Based | Plane-Based | Ours | |||
---|---|---|---|---|---|---|
City | Castle | City | Castle | City | Castle | |
Rotation error | 2.0206 | 8.2586 | 0.7600 | 1.8412 | 0.0013 | 0.1813 |
Horizontal error | 0.3091 | 1.2927 | 0.2877 | 0.5308 | 0.2319 | 0.1109 |
Vertical error | 0.6536 | 2.6860 | 0.3485 | 0.0443 | 0.0088 | 0.0119 |
Method | Point-based | Plane-based | Ours | |||
---|---|---|---|---|---|---|
City | Castle | City | Castle | City | Castle | |
Number of features | 2627 vs. 2632 | 14,778 vs. 11,482 | 29 vs. 42 | 44 vs. 37 | 32 vs. 48 | 55 vs. 52 |
(s) | 195.9942 | 1260.3 | 1958.3 | 8175.8 | 10.4173 | 23.3062 |
(s) | 558.7629 | 4244.7 | 1696.0 | 6377.4 | 123.9002 | 506.9736 |
(s) | 105.3999 | 2601.5 | 77.4270 | 915.0109 | 68.6787 | 183.1849 |
(s) | 860.1570 | 8106.5 | 3731.7 | 15468.3 | 202.9962 | 713.4647 |
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Tao, W.; Hua, X.; Chen, Z.; Tian, P. Fast and Automatic Registration of Terrestrial Point Clouds Using 2D Line Features. Remote Sens. 2020, 12, 1283. https://doi.org/10.3390/rs12081283
Tao W, Hua X, Chen Z, Tian P. Fast and Automatic Registration of Terrestrial Point Clouds Using 2D Line Features. Remote Sensing. 2020; 12(8):1283. https://doi.org/10.3390/rs12081283
Chicago/Turabian StyleTao, Wuyong, Xianghong Hua, Zhiping Chen, and Pengju Tian. 2020. "Fast and Automatic Registration of Terrestrial Point Clouds Using 2D Line Features" Remote Sensing 12, no. 8: 1283. https://doi.org/10.3390/rs12081283