THREE-DIMENSIONAL POINT-CLOUD REGISTRATION USING A GENETIC ALGORITHM AND THE ITERATIVE CLOSEST POINT ALGORITHM

D. Torres, F. J. Cuevas

Abstract

We present a method for three-dimensional surface registration which utilizes a Genetic Algorithm (GA) to perform a coarse alignment of two scattered point clouds followed by a slight variation of the Iterative Closest Point (ICP) algorithm for a final fine-tuning. In this work, in order to improve the time of convergence, a sampling method consisting of three steps is used: 1) sample over the geometry of the clouds based on a gradient function to remove easily interpolating singularities; 2) a random sampling of the clouds and 3) a final sampling based on the overlapping areas between the clouds. The presented method requires no more than 25% of overlapping surface between the two scattered point clouds and no rotational or translational information is needed. The proposed algorithm has shown a good convergence ratio with few generations and usability through automated applications such as object digitalization and reverse engineering.

References

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Paper Citation


in Harvard Style

Torres D. and J. Cuevas F. (2011). THREE-DIMENSIONAL POINT-CLOUD REGISTRATION USING A GENETIC ALGORITHM AND THE ITERATIVE CLOSEST POINT ALGORITHM . In Proceedings of the International Conference on Evolutionary Computation Theory and Applications - Volume 1: FEC, (IJCCI 2011) ISBN 978-989-8425-83-6, pages 547-552. DOI: 10.5220/0003718405470552


in Bibtex Style

@conference{fec11,
author={D. Torres and F. J. Cuevas},
title={THREE-DIMENSIONAL POINT-CLOUD REGISTRATION USING A GENETIC ALGORITHM AND THE ITERATIVE CLOSEST POINT ALGORITHM},
booktitle={Proceedings of the International Conference on Evolutionary Computation Theory and Applications - Volume 1: FEC, (IJCCI 2011)},
year={2011},
pages={547-552},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003718405470552},
isbn={978-989-8425-83-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Evolutionary Computation Theory and Applications - Volume 1: FEC, (IJCCI 2011)
TI - THREE-DIMENSIONAL POINT-CLOUD REGISTRATION USING A GENETIC ALGORITHM AND THE ITERATIVE CLOSEST POINT ALGORITHM
SN - 978-989-8425-83-6
AU - Torres D.
AU - J. Cuevas F.
PY - 2011
SP - 547
EP - 552
DO - 10.5220/0003718405470552