Color Point Cloud Registration Algorithm Based on Hue

Abstract

ICP is a well-known method for point cloud registration but it only uses geometric information to do this, which will result in bad results in some similar structures. Adding color information when registering will improve the performance. However, color information of point cloud, such as gray, varies differently under different lighting conditions. Using gray as the color information to register can cause large errors and even wrong results. To solve this problem, we propose a color point cloud registration algorithm based on hue, which has good robustness at different lighting conditions. We extract the hue component according to the color information of point clouds and make the hue distribution of the tangent plane continuous. The error function consists of color and geometric error of two point clouds under the current transformation. We optimize the error function using the Gauss–Newton method. If the value of the error function is less than the preset threshold or the maximum number of iterations is reached, the current transformation relationship is required. We use RGB-D Scenes V2 dataset to evaluate our algorithm and the results show that the average recall of our algorithms is 8.63% higher than that of some excellent algorithms, and its RMSE of 14.3% is lower than that of the other compared algorithms.

Keywords

• color point cloud
• hue
• ICP
• registration