Matching Algorithm for 3D Point Cloud Recognition and Registration Based on Multi-Statistics Histogram Descriptors

Establishing an effective local feature descriptor and using an accurate key point matching algorithm are two crucial tasks in recognizing and registering on the 3D point cloud. Because the descriptors need to keep enough descriptive ability against the effect of noise, occlusion, and incomplete regions in the point cloud, a suitable key point matching algorithm can get more precise matched pairs. To obtain an effective descriptor, this paper proposes a Multi-Statistics Histogram Descriptor (MSHD) that combines spatial distribution and geometric attributes features. Furthermore, based on deep learning, we developed a new key point matching algorithm that could identify more corresponding point pairs than the existing methods. Our method is evaluated based on Stanford 3D dataset and four real component point cloud dataset from the train bottom. The experimental results demonstrate the superiority of MSHD because its descriptive ability and robustness to noise and mesh resolution are greater than those of carefully selected baselines (e.g., FPFH, SHOT, RoPS, and SpinImage descriptors). Importantly, it has been confirmed that the error of rotation and translation matrix is much smaller based on our key point matching algorithm, and the precise corresponding point pairs can be captured, resulting in enhanced recognition and registration for three-dimensional surface matching.

GSV-NET: A Multi-Modal Deep Learning Network for 3D Point Cloud Classification

Light Detection and Ranging (LiDAR), which applies light in the formation of a pulsed laser to estimate the distance between the LiDAR sensor and objects, is an effective remote sensing technology. Many applications use LiDAR including autonomous vehicles, robotics, and virtual and augmented reality (VR/AR). The 3D point cloud classification is now a hot research topic with the evolution of LiDAR technology. This research aims to provide a high performance and compatible real-world data method for 3D point cloud classification. More specifically, we introduce a novel framework for 3D point cloud classification, namely, GSV-NET, which uses Gaussian Supervector and enhancing region representation. GSV-NET extracts and combines both global and regional features of the 3D point cloud to further enhance the information of the point cloud features for the 3D point cloud classification. Firstly, we input the Gaussian Supervector description into a 3D wide-inception convolution neural network (CNN) structure to define the global feature. Secondly, we convert the regions of the 3D point cloud into color representation and capture region features with a 2D wide-inception network. These extracted features are inputs of a 1D CNN architecture. We evaluate the proposed framework on the point cloud dataset: ModelNet and the LiDAR dataset: Sydney. The ModelNet dataset was developed by Princeton University (New Jersey, United States), while the Sydney dataset was created by the University of Sydney (Sydney, Australia). Based on our numerical results, our framework achieves more accuracy than the state-of-the-art approaches.