Point Cloud Registration Algorithm Based on the Grey Wolf Optimizer

Abstract

In view of the long computation time and low registration accuracy of the current point cloud registration algorithm, a point cloud registration algorithm based on the grey wolf optimizer (GWO) is proposed, denoted PCR-GW. The algorithm uses the centralization method to solve the translation matrix and then simplifies the points of the initial point cloud models by using the intrinsic shape signatures (ISS) feature. Next, various parameters of the rotation matrix are obtained via the GWO algorithm by employing the quadratic sum of the distances between corresponding points in the simplified point cloud as the objective function. Finally, the point cloud registration process is completed by using the obtained transformation matrix. By conducting a registration experiment on the point cloud library model and comparing PCR-GW with the traditional algorithms, the algorithm proposed in this article is shown to be promising for improving the computation speed and registration accuracy.

Keywords

• Point cloud registration
• feature point extraction
• grey wolf optimization algorithm