Sha C., Lu Z., Li R., Zheng H., Duodu E., 2016, A Point Cloud Registration Algorithm for Free-form Surface, Chemical Engineering Transactions, 51, 469-474.
To improve the searching efficiency of the precise position of workpiece with free-form surface, a new two- step point cloud registration method is proposed. It seeks to improve the preliminary registration algorithm and the iterative closest point (ICP) algorithm. Firstly, for preliminary registration, the co-planar 4-points sets are searched based on the constraints of distance and proportional relationship between points. Then the invariant of these co-planar 4-points sets are used for random sample consensus algorithm (RANSAC) to get initial position of the target point cloud. Secondly, re-sampling of source data, matching method based on double direction normal projection and elimination of unreliable point-pairs are used to improve the original ICP algorithm to optimize the preliminary registration result. The registration simulations of two simple workpieces were conducted. The results show that the improved algorithm has higher efficiency and better precision than the traditional ones.
