Method of Rigid Registration Based on Poisson Reconstruction of Local Sample Points

doi:10.3901/JME.2018.15.141

Abstract

Abstract: To keep a balance between the accuracy and the convergence rate of registration, and to improve the convergence stability of registration process, a method of rigid registration based on Poisson reconstruction of local surface sample is proposed. The method is based on the Poisson surface reconstructed by local surface sample and the surface can be regarded as the reference of registration. The nearest point from the point set in the local sample to the reference surface can be used as the match point, which can extend the match range from the point set to the surface fitted by the set. As a result, the accuracy of points matching can be improved. Registration error can be estimated by the Poisson surface, eliminating the delayed effects on convergence judgment caused by the sampling error and accelerating the speed of convergence of the registration process. In the registration process, adjustment factor is used to adjust the match range of the match point. The factor can increase the probability of matching in the case of a relatively large error and improve the convergence stability of registration process. Tests show that the method proposed can guarantee the accuracy of registration and significantly reduce the number of iterations when convergence reached at the same time. In addition, the method can reach global convergence more stably.

Key words: iterative closet point, local surface sample, Poisson reconstruction, rigid registration

CLC Number:

TP391

SUN Dianzhu, GUO Hongshuai, LI Yanrui, NIE Lekui. Method of Rigid Registration Based on Poisson Reconstruction of Local Sample Points[J]. Journal of Mechanical Engineering, 2018, 54(15): 141-149.

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