A high-accuracy method for fine registration of overlapping point clouds

摘要

This paper presents a high-accuracy method for fine registration of two partially overlapping point clouds that have been coarsely registered. The proposed algorithm, which is named dual interpolating point-to-surface method, is principally a modified variant of point-to-surface Iterative Closest Point (ICP) algorithm. The original correspondences are established by adopting a dual surface fitting approach using B-spline interpolation. A novel auxiliary pair constraint based on the surface fitting approach, together with surface curvature information, is employed to remove unreliable point matches. The combined constraint directly utilizes global rigid motion consistency in conjunction with local geometric invariant to reject false correspondences precisely and efficiently. The experimental results involving a number of realistic point clouds demonstrate that the new method can obtain accurate and robust fine registration for pairwise 3D point clouds. This method addresses highest accuracy alignment with less focus on recovery from poor coarse registrations.