Publicación:
Comparative study of point cloud registration techniques between ICP and others

dc.contributor.authorMéndez, Dehyro
dc.contributor.authorForero, Manuel G.
dc.contributor.authorMurcía, Harold F.
dc.date.accessioned2020-11-17T21:56:42Z
dc.date.available2020-11-17T21:56:42Z
dc.date.issued2020-08-21
dc.description.abstractRegistration is a technique employed for the alignment of point clouds in a single coordinate system. This process is very useful for the reconstruction of 3D plant models, the extraction of their morphological features and the subsequent analysis of the phenotype. One of the most widely studied recording algorithms is ICP (Iterative Closest Point), which is based on rigid transformations. Although in the literature there are several comparative studies between different variants of ICP, there is no comparative study with other more recent existing methods based on other principles. Therefore, in this paper we present a study comparing the results obtained with different registration algorithms on previously filtered 3D point clouds of plants, obtained with a MS Kinect V1 sensor integrated to a rotating base. The study includes two of the most used variants of the ICP, the point-to-point ICP and the point-to-plane ICP. These variants are based on the normals to the surfaces found to guide their point-to-point matching method presenting better results in smooth regions. In addition, other iterative point cloud alignment algorithms based on probability density estimation, hierarchical mixed Gaussian models and distance minimization between probability distributions are included. The results showed the effectiveness of ICP variants simplicity, and the high precision achieved by probabilistic methods. The error and computation time of the algorithms, implemented in Python, were evaluated.es_CO
dc.description.sponsorshipUniversidad de Ibaguées_CO
dc.identifier.citationDehyro Méndez, Manuel G. Forero, and Harold F. Murcía "Comparative study of point cloud registration techniques between ICP and others", Proc. SPIE 11510, Applications of Digital Image Processing XLIII, 115101H (21 August 2020); https://doi.org/10.1117/12.2566889es_CO
dc.identifier.issn0277-786X
dc.identifier.urihttps://www.spiedigitallibrary.org/conference-proceedings-of-spie/11510/115101H/Comparative-study-of-point-cloud-registration-techniques-between-ICP-and/10.1117/12.2566889.short?webSyncID=ab0d3a6b-03c9-7c00-9b6b-cd746b80d8e8&sessionGUID=abeeaed6-ae05-c117-aac5-a9199362b9eb
dc.language.isoenes_CO
dc.publisherProceedings of SPIE - The International Society for Optical Engineeringes_CO
dc.subjectRegistrationes_CO
dc.subjectICPes_CO
dc.subjectPoint cloud reconstructiones_CO
dc.subjectKinect sensores_CO
dc.subjectLiDARes_CO
dc.subjectPlant phenotypinges_CO
dc.subject3D reconstructiones_CO
dc.subjectPoint cloud alignmentes_CO
dc.titleComparative study of point cloud registration techniques between ICP and otherses_CO
dc.typeArticlees_CO
dspace.entity.typePublication
eperson.emailmanuel.forero@uniabgue.edu.coes_CO
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