HEALPix-IA: A Global Registration Algorithm for Initial Alignment
AbstractMethods 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
Share & Cite This Article
Gao, Y.; Du, Z.; Xu, W.; Li, M.; Dong, W. HEALPix-IA: A Global Registration Algorithm for Initial Alignment. Sensors 2019, 19, 427.
Gao Y, Du Z, Xu W, Li M, Dong W. HEALPix-IA: A Global Registration Algorithm for Initial Alignment. Sensors. 2019; 19(2):427.Chicago/Turabian Style
Gao, Yongzhuo; Du, Zhijiang; Xu, Wei; Li, Mingyang; Dong, Wei. 2019. "HEALPix-IA: A Global Registration Algorithm for Initial Alignment." Sensors 19, no. 2: 427.
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.