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Robust registration algorithm based on rational quadratic kernel for point sets with outliers and noise

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Abstract

This paper proposes a new rigid registration algorithm based on the rational quadratic kernel to align point sets with outliers and noise. First of all, the multi-source point sets may contain a lot of outliers and noise and the traditional registration algorithm cannot handle the outliers and noise efficiently, this paper introduces the rational quadratic kernel to the rigid registration problem, which can resist outliers and suppress noise to improve the registration accuracy. Secondly, based on the new registration model, we present an iterative closest point (ICP) algorithm and use Lagrange multiplier and the singular value decomposition (SVD) to compute the rigid transformation. Moreover, the effect of the parameter is discussed detailly and a useful parameter control method is introduced to increase the accuracy and robustness of registration. A series of experiments on simulations and real data demonstrate that the proposed algorithm is more precise and robust than other algorithms.

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Acknowledgments

This work is supported by the National Natural Science Foundation of China under Grant Nos. 61971343, 61627811 and 61866022, and the Fundamental Research Funds for the Central Universities under Grant No. xzy022020052.

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Authors and Affiliations

  1. Institute of Artificial Intelligence and Robotics, College of Artificial Intelligence, Xi’an Jiaotong University, Xi’an, Shaanxi Province, 710049, People’s Republic of China

    Runzhao Yao, Shaoyi Du, Teng Wan & Wenting Cui

  2. School of Electronic and Information Engineering, Xi’an Jiaotong University, Xi’an, Shaanxi Province, 710049, People’s Republic of China

    Yang Yang & Yang Jing

  3. College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, Gansu Province, 730050, People’s Republic of China

    Ce Li

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  1. Runzhao Yao
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  2. Shaoyi Du
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  4. Wenting Cui
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  5. Yang Yang
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  7. Ce Li
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Correspondence to Shaoyi Du.

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Yao, R., Du, S., Wan, T. et al. Robust registration algorithm based on rational quadratic kernel for point sets with outliers and noise. Multimed Tools Appl 80, 27925–27945 (2021). https://doi.org/10.1007/s11042-021-10851-x

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