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HEALPix-IA: A Global Registration Algorithm for Initial Alignment

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
Author to whom correspondence should be addressed.
Sensors 2019, 19(2), 427;
Received: 12 December 2018 / Revised: 16 January 2019 / Accepted: 18 January 2019 / Published: 21 January 2019
(This article belongs to the Special Issue Sensors for MEMS and Microsystems)
PDF [1754 KB, uploaded 21 January 2019]


Methods of point cloud registration based on ICP algorithm are always limited by convergence rate, which is related to initial guess. A good initial alignment transformation can sharply reduce convergence time and raise efficiency. In this paper, we propose a global registration method to estimate the initial alignment transformation based on HEALPix (Hierarchical Equal Area isoLatitude Pixelation of a sphere), an algorithm for spherical projections. We adopt EGI (Extended Gaussian Image) method to map the normals of the point cloud and estimate the transformation with optimized point correspondence. Cross-correlation method is used to search the best alignment results in consideration of the accuracy and robustness of the algorithm. The efficiency and accuracy of the proposed algorithm were verified with created model and real data from various sensors in comparison with similar methods. View Full-Text
Keywords: global registration; 3D alignment; point cloud registration; machining allowance analysis global registration; 3D alignment; point cloud registration; machining allowance analysis

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Gao, Y.; Du, Z.; Xu, W.; Li, M.; Dong, W. HEALPix-IA: A Global Registration Algorithm for Initial Alignment. Sensors 2019, 19, 427.

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