Motivated by the high speed but insufficient precision of the existing fast point feature histogram algorithm, a new fast point feature histogram registration algorithm based on density optimization is proposed. In this method, a 44-section blank feature histogram is first established, and then a principal component analysis is implemented to calculate the normal of each point in the point cloud. By translating the coordinate system in the established local coordinate system, the normal angle of each point pair and its weighted neighborhood are obtained, and then a fast point feature histogram with 33 sections is established. The reciprocal of the volume density for the central point and its weighted neighborhood are calculated simultaneously. The whole reciprocal space is divided into 11 sections. Thus, a density fast point feature histogram with 44 sections is obtained. On inputting the testing models, the initial pose of the point cloud is adjusted using the traditional fast point feature histogram and the proposed algorithms, respectively. Then, the iterative closest point algorithm is incorporated to complete the fine registration test. Compared with the traditional fine registration test algorithm, the proposed optimization algorithm can obtain 44 feature parameters under the condition of a constant time complexity. Moreover, the proposed optimization algorithm can reduce the standard deviation by 8.6% after registration. This demonstrates that the proposed method encapsulates abundant information and can achieve a high registration accuracy.
A solution to energy and environmental problems of electric power system using hybrid harmony search-random search optimization algorithm
