[Paper] Double Sparse Representation for Point Cloud Registration

• SUN Lu

  CHIBA University

• MANABE Yoshitsugu

  CHIBA University

• YATA Noriko

  CHIBA University

Abstract

Point cloud registration is an important part of 3-dimensional information processing. Low overlap ratio, noise, outliers, and missing points considerably influence the registration results. In this paper, we propose a fast and robust point cloud registration method to reduce the impact of these factors. First, the point groups are resampled by point clouds as basic elements for point cloud registration. Second, singular value decomposition is used to decompose the point groups. Third, the depth image of the point groups is calculated, and the sparse feature is obtained using the depth image. Finally, the sparse feature is used to obtain registration results through sparse representation. Under the premise of robustness to low overlap ratio, noise, outliers, and missing points, experimental results show that our algorithm is faster and more accurate than extant methods.

Journal

• ITE Transactions on Media Technology and Applications

  ITE Transactions on Media Technology and Applications 7 (3), 148-158, 2019

  The Institute of Image Information and Television Engineers

Keywords

• Point Cloud Registration
• Point Group Decomposition
• K-Singular Value Decomposition
• Sparse Representation

Details

• CRID: 1390845713080336768
• NII Article ID: 130007673108
• DOI: 10.3169/mta.7.148
• ISSN: 21867364
• Web Site: https://www.jstage.jst.go.jp/article/mta/7/3/7_148/_pdf
• Text Lang: en
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed