# 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