Registration and Integration of Automobile-Bodies Scattered Point Cloud Based on K-D Tree

2011 ◽  
Vol 201-203 ◽  
pp. 846-851
Author(s):  
Yu Zhou ◽  
Wan Bing Zhang ◽  
Fa Rong Du
Keyword(s):  
Point Cloud ◽  
Geometric Dimension ◽  
Least Square ◽  
Practical Significance ◽  
Dimensional Sphere ◽  
Icp Algorithm ◽  
Geometric Similarity ◽  
Registration Algorithm ◽  
Huge Data ◽  
Registration Result

As the automobile-bodies point cloud had the traits of large geometric dimension, huge data and rigor reverse precision, the improved iterative closet point algorithm (ICP) is put forward. The searching structure is generated using k-D tree. The closet points are searched by k-Dimensional sphere. The mapped relationship between points is generated. The matched points are filtered by the principle of geometric similarity. The solving of ICP algorithm is speeded and the registration precision of ICP algorithm is improved. The registration algorithm based on least-square and quaternion is used to calculate accurate registration result. The algorithm has certain theoretical and practical significance for improving of the efficiency and precision of registration. The reliability and accuracy of the algorithm are proved by experimentation.

scholarly journals OICP: An Online Fast Registration Algorithm Based on Rigid Translation Applied to Wire Arc Additive Manufacturing of Mold Repair

Materials ◽  
2021 ◽  
Vol 14 (6) ◽  
pp. 1563
Author(s):  
Ruibing Wu ◽  
Ziping Yu ◽  
Donghong Ding ◽  
Qinghua Lu ◽  
Zengxi Pan ◽  
...  
Keyword(s):  
Additive Manufacturing ◽  
Point Cloud ◽  
Point Clouds ◽  
Iterative Closest Point ◽  
Multiple Point ◽  
Icp Algorithm ◽  
Registration Algorithm ◽  
Cloud Models ◽  
Comparison Results ◽  
Wire Arc Additive Manufacturing

As promising technology with low requirements and high depositing efficiency, Wire Arc Additive Manufacturing (WAAM) can significantly reduce the repair cost and improve the formation quality of molds. To further improve the accuracy of WAAM in repairing molds, the point cloud model that expresses the spatial distribution and surface characteristics of the mold is proposed. Since the mold has a large size, it is necessary to be scanned multiple times, resulting in multiple point cloud models. The point cloud registration, such as the Iterative Closest Point (ICP) algorithm, then plays the role of merging multiple point cloud models to reconstruct a complete data model. However, using the ICP algorithm to merge large point clouds with a low-overlap area is inefficient, time-consuming, and unsatisfactory. Therefore, this paper provides the improved Offset Iterative Closest Point (OICP) algorithm, which is an online fast registration algorithm suitable for intelligent WAAM mold repair technology. The practicality and reliability of the algorithm are illustrated by the comparison results with the standard ICP algorithm and the three-coordinate measuring instrument in the Experimental Setup Section. The results are that the OICP algorithm is feasible for registrations with low overlap rates. For an overlap rate lower than 60% in our experiments, the traditional ICP algorithm failed, while the Root Mean Square (RMS) error reached 0.1 mm, and the rotation error was within 0.5 degrees, indicating the improvement of the proposed OICP algorithm.

Registration Algorithm for Three-Dimensional Point Cloud Data

2015 ◽  
Vol 741 ◽  
pp. 237-240
Author(s):  
Li Lun Huang ◽  
Wen Guo Li ◽  
Qi Le Yang ◽  
Ying Chun Chen
Keyword(s):  
Point Cloud ◽  
Three Dimensional ◽  
Singular Value ◽  
3D Point Cloud ◽  
Point Cloud Data ◽  
Icp Algorithm ◽  
Cloud Data ◽  
Registration Algorithm ◽  
Mathematical Algorithms ◽  
Value Decomposition

The principle of registration of the 3D point cloud data and the current algorithms are compared, and ICP algorithm is chosen since its fast convergence speed, high precision, and simple objective function. On the basis of ICP algorithm, singular value decomposition and four-array method are analysed by programming program, and all the mathematical algorithms is transformed into programming language by Matlab software.

Point Cloud Registration Algorithm Based on the ISS Feature Points Combined with Improved ICP Algorithm

2017 ◽  
Vol 54 (11) ◽  
pp. 111503 ◽  
Author(s):  
李仁忠 Li Renzhong ◽  
杨 曼 Yang Man ◽  
田 瑜 Tian Yu ◽  
刘阳阳 Liu Yangyang ◽  
张缓缓 Zhang Huanhuan
Keyword(s):  
Point Cloud ◽  
Feature Points ◽  
Point Cloud Registration ◽  
Icp Algorithm ◽  
Registration Algorithm

Point Cloud Registration Algorithm Combined Gaussian Mixture Model and Point-to-Plane Metric

2018 ◽  
Vol 30 (4) ◽  
pp. 642
Author(s):  
Guichao Lin ◽  
Yunchao Tang ◽  
Xiangjun Zou ◽  
Qing Zhang ◽  
Xiaojie Shi ◽  
...  
Keyword(s):  
Gaussian Mixture Model ◽  
Mixture Model ◽  
Point Cloud ◽  
Gaussian Mixture ◽  
Point Cloud Registration ◽  
Registration Algorithm

ESTIMATING SURFACE NORMALS IN NOISY POINT CLOUD DATA

2004 ◽  
Vol 14 (04n05) ◽  
pp. 261-276 ◽  
Author(s):  
NILOY J. MITRA ◽  
AN NGUYEN ◽  
LEONIDAS GUIBAS
Keyword(s):  
Point Cloud ◽  
Smooth Surface ◽  
Smooth Curve ◽  
Local Information ◽  
Least Square ◽  
Neighborhood Size ◽  
Point Cloud Data ◽  
Cloud Data ◽  
Normal Estimation ◽  
Least Square Fitting

In this paper we describe and analyze a method based on local least square fitting for estimating the normals at all sample points of a point cloud data (PCD) set, in the presence of noise. We study the effects of neighborhood size, curvature, sampling density, and noise on the normal estimation when the PCD is sampled from a smooth curve in ℝ2or a smooth surface in ℝ3, and noise is added. The analysis allows us to find the optimal neighborhood size using other local information from the PCD. Experimental results are also provided.

scholarly journals Global metabolomic and lipidomic analysis reveals the potential mechanisms of hemolysis effect of Ophiopogonin D and Ophiopogonin D' in vivo

2021 ◽  
Vol 16 (1) ◽  
Author(s):  
Huan-Hua Xu ◽  
Zhen-Hong Jiang ◽  
Cong-Shu Huang ◽  
Yu-Ting Sun ◽  
Long-Long Xu ◽  
...  
Keyword(s):  
Chemical Properties ◽  
Principal Component ◽  
Partial Least Square ◽  
Least Square ◽  
Practical Significance ◽  
Plasma Metabolites ◽  
Active Components ◽  
The Difference

Abstract Background OPD and OPD' are the two main active components of Ophiopogon japonicas in Shenmai injection (SMI). Being isomers of each other, they are supposed to have similar pharmacological activities, but the actual situation is complicated. The difference of hemolytic behavior between OPD and OPD' in vivo and in vitro was discovered and reported by our group for the first time. In vitro, only OPD' showed hemolysis reaction, while in vivo, both OPD and OPD' caused hemolysis. In vitro, the primary cause of hemolysis has been confirmed to be related to the difference between physical and chemical properties of OPD and OPD'. In vivo, although there is a possible explanation for this phenomenon, the one is that OPD is bio-transformed into OPD' or its analogues in vivo, the other one is that both OPD and OPD' were metabolized into more activated forms for hemolysis. However, the mechanism of hemolysis in vivo is still unclear, especially the existing literature are still difficult to explain why OPD shows the inconsistent hemolysis behavior in vivo and in vitro. Therefore, the study of hemolysis of OPD and OPD' in vivo is of great practical significance in response to the increase of adverse events of SMI. Methods Aiming at the hemolysis in vivo, this manuscript adopted untargeted metabolomics and lipidomics technology to preliminarily explore the changes of plasma metabolites and lipids of OPD- and OPD'-treated rats. Metabolomics and lipidomics analyses were performed on ultra-high performance liquid chromatography (UPLC) system tandem with different mass spectrometers (MS) and different columns respectively. Multivariate statistical approaches such as principal component analysis (PCA) and orthogonal partial least square-discriminant analysis (OPLS-DA) were applied to screen the differential metabolites and lipids. Results Both OPD and OPD' groups experienced hemolysis, Changes in endogenous differential metabolites and differential lipids, enrichment of differential metabolic pathways, and correlation analysis of differential metabolites and lipids all indicated that the causes of hemolysis by OPD and OPD' were closely related to the interference of phospholipid metabolism. Conclusions This study provided a comprehensive description of metabolomics and lipidomics changes between OPD- and OPD'-treated rats, it would add to the knowledge base of the field, which also provided scientific guidance for the subsequent mechanism research. However, the underlying mechanism require further research.

scholarly journals Individual retrieval based on oral cavity point cloud data and correntropy-based registration algorithm

2020 ◽  
Vol 14 (12) ◽  
pp. 2675-2681
Author(s):  
Wenting Cui ◽  
Jianyi Liu ◽  
Shaoyi Du ◽  
Yuying Liu ◽  
Teng Wan ◽  
...  
Keyword(s):  
Oral Cavity ◽  
Point Cloud ◽  
Point Cloud Data ◽  
Cloud Data ◽  
Registration Algorithm

scholarly journals AIRBORNE LIGHT DETECTION AND RANGING (LIDAR) DERIVED DEFORMATION FROM THE MW 6.0 24 AUGUST, 2014 SOUTH NAPA EARTHQUAKE ESTIMATED BY TWO AND THREE DIMENSIONAL POINT CLOUD CHANGE DETECTION TECHNIQUES

2016 ◽  
Vol XLI-B2 ◽  
pp. 35-42 ◽  
Author(s):  
A. W. Lyda ◽  
X. Zhang ◽  
C. L. Glennie ◽  
K. Hudnut ◽  
B. A. Brooks
Keyword(s):  
Change Detection ◽  
Point Cloud ◽  
Near Field ◽  
Three Dimensional ◽  
Light Detection And Ranging ◽  
Data Sets ◽  
Light Detection ◽  
Icp Algorithm ◽  
Detection Algorithms ◽  
Change Detection Algorithms

Remote sensing via LiDAR (Light Detection And Ranging) has proven extremely useful in both Earth science and hazard related studies. Surveys taken before and after an earthquake for example, can provide decimeter-level, 3D near-field estimates of land deformation that offer better spatial coverage of the near field rupture zone than other geodetic methods (e.g., InSAR, GNSS, or alignment array). In this study, we compare and contrast estimates of deformation obtained from different pre and post-event airborne laser scanning (ALS) data sets of the 2014 South Napa Earthquake using two change detection algorithms, Iterative Control Point (ICP) and Particle Image Velocimetry (PIV). The ICP algorithm is a closest point based registration algorithm that can iteratively acquire three dimensional deformations from airborne LiDAR data sets. By employing a newly proposed partition scheme, “moving window,” to handle the large spatial scale point cloud over the earthquake rupture area, the ICP process applies a rigid registration of data sets within an overlapped window to enhance the change detection results of the local, spatially varying surface deformation near-fault. The other algorithm, PIV, is a well-established, two dimensional image co-registration and correlation technique developed in fluid mechanics research and later applied to geotechnical studies. Adapted here for an earthquake with little vertical movement, the 3D point cloud is interpolated into a 2D DTM image and horizontal deformation is determined by assessing the cross-correlation of interrogation areas within the images to find the most likely deformation between two areas. Both the PIV process and the ICP algorithm are further benefited by a presented, novel use of urban geodetic markers. Analogous to the persistent scatterer technique employed with differential radar observations, this new LiDAR application exploits a classified point cloud dataset to assist the change detection algorithms. Ground deformation results and statistics from these techniques are presented and discussed here with supplementary analyses of the differences between techniques and the effects of temporal spacing between LiDAR datasets. Results show that both change detection methods provide consistent near field deformation comparable to field observed offsets. The deformation can vary in quality but estimated standard deviations are always below thirty one centimeters. This variation in quality differentiates the methods and proves that factors such as geodetic markers and temporal spacing play major roles in the outcomes of ALS change detection surveys.

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