Fast Colored Point Feature Histograms Global Registration

Xingjie Liu, Guolei Wang, Simin Zhang, Ken Chen
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Abstract

We present an algorithm for fast global registration on colored dense point clouds. We combine CIELAB color information with fast point feature histograms for better correspondence and use color difference score to delete wrong pairs. The optimization is based on a method from Intel Labs that does not update correspondence or query closest-point during optimization. Experiments are taken on real partial overlapped data obtained from Kinect V2. The algorithm achieves a precise alignment with no initialization and cost little time. It can be extended to real-time robotics application for further study.
快速彩色点特征直方图全局配准
提出了一种彩色密集点云的快速全局配准算法。我们将CIELAB颜色信息与快速点特征直方图相结合,以获得更好的对应性,并使用色差评分来删除错误对。优化基于英特尔实验室的一种方法,该方法在优化期间不更新通信或查询最近点。实验采用Kinect V2获取的真实部分重叠数据。该算法无需初始化,耗时短,实现了精确对齐。该方法可扩展到实时机器人应用中进行进一步研究。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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