Computer Engineering and Applications 20165212 153

Kinect

WANG Huan, WANG Tongqing, LI Yang

400044
Key Laboratory of Optoelectronic Technology & Systems Ministry of Education, Chongqing University, Chongqing 400044, China

WANG Huan, WANG Tongqing, LI Yang. Research of 3D point-cloud registration method based on depth informa-
tion of Kinect. Computer Engineering and Applications, 2016, 5212153-157.

AbstractAiming at the problem of point cloud registration in 3D reconstruction, this paper presents an automatic regis-
tration method based on the feature of point cloud. Firstly, it utilizes Microsoft Kinect sensor to capture depth images in
several different views and the interest regions are extracted and converted to 3D point cloud. Secondly, point clouds are
filtered and the fast point feature histograms are estimated, then the bidirectional fast approximate nearest neighbor algorithm
and random sample consensus are employed to search the final corresponding points. Finally, after computing the initial
transformation matric applying singular value decomposition, the iterative closest point algorithm is used to get refined
result on the base of initial registration. Experiments show that this registration method can not only ensure the quality of
point cloud registration, but reduce the computation complexity, and achieve higher maneuverability and better robustness.
Key wordsKinect; 3D point cloud; feature of point cloud; point cloud registration

Kinect

Kinect
A TP391 doi10.3778/j.issn.1002-8331.1407-0506

1
Besl[1]
ICP ICP

[2]
Basdogan[3]
Dai[4] k

[5]

No.106112013CDJZR120014
1989E-mailhihaunhaun@163.com1949
1989

2014-08-04 2014-10-28 1002-8331201612-0153-05
154 20165212 Computer Engineering and Applications

Kinect[6] Kinect P1 P 2
XBOX-360 R 3 3
Kinect RGB T 3 1

30 /s 640480

min R 3 3 P 2 + T 3 1 - P1
2
3
ICP
Kinect

ICP

3.1
Kinect
2 105
Kinect
mm
[7]
[8]
1 000~2 000 mm
D D(x y) 1 P i
D(x y) = 0 D(x y) < 1 000

D(x y) = D(x y) 1 000 D(x y) 2 000 1 2

D(x y) = 0 D(x y) > 2 000
3
12 3.2
Normal Aligned
Radial FeatureNARF [9]Point Feature Histogram
PFH [10]
PFH Fast Point Feature
HistogramFPFH [11]

1 2
[12]

P{ p1 p 2 p n}
X Y Kinect
p i{xi yi zi} k
X Y D(x y)
k
C = 1 ( p i - p)( p i - p)T 4
k i=1

C
z = D(x y)
CV j = jV j j = 0 1 2 5
x = 2 tan(57/2) (x - 320) D(x y)/640 2
P j j V j j
y = 2 tan(43/2) (240 - y) D(x y)/480
5743 P i
320240

D1 D 2 D n
P1 P 2 P n k
FPFH
3
1 P{ p1 p 2 p n}
 Kinect 20165212 155

p i{xi yi zi} k N ( p i ) 3.5

2 N ( p i ) p i{xi yi zi} p j{x j y j z j}
n i n j
P i0+ 1 P i
arccos(n i p j - p i ) arccos(n j p i - p j ) 6
ICP P i0+ 1 P i

R13 3 T 31 1 P i + 1 P i
u = n i
R 3 3 = R13 3 R 30 3
( p j - pi) u
v = 7 11
p j - pi 2 T 3 1 = R13 3T 30 1 + T 1
3 1

w = u v

= v n j

u ( p j - pi) 4
= 8
p j - pi
2
Intel Penti-
um 2.10 GHz CPU T43002 GB Windows7 32
= arctan(w n j u n j )
Visual Studio2010
n i n j Point Cloud Library[16]
p i{xi yi zi} k 3 4 Kinect
SPFH ( p i ) SPFH 5
p i Kinect
SPFH ( p k )
k 4 a
FPFH ( p i ) = SPFH ( p i ) + 1 9 15
k i=1 k
k p i p k
30b
c
( p i p k )
d
3.3
45

60
FLANN[13]
f 5 a
e
P Q
1 P p i FLANN
Q q j 20b
c
( p i q j ) d
2 Q q m FLANN Kinect

P p n
( p n q m) 1 2

3 i = n j = m
1 2
4 P Q
5
RANSAC [14]
FPFH FPFH

3.4
P i + 1 P i FLANN
[15]
SVD
SVD
R 30 3 T 30 1
R 30 3 P i + 1 + T 30 1 = P i0+ 1 10 ICP
0
P i + 1 P i+1 3
156 20165212 Computer Engineering and Applications

2
10e
f ICP


/mm /mm
/s /s
1
3
1 16 021
213 0.228 270 288 250 0.188 263 263
2 15 547
ICP
3 15 357
2 4 167 0.194 465 201 189 0.147 821 155
4 15 748

3
/s




a 1 b 115 c 115 1 38 471
2.3 18.9 56.8 136.6 417.4
15230 230 ICP 230 2 40 219
3 40 219
2.7 21.5 62.8 147.1 452.9
4 41 001

4
ICP


d 3 e 345 f 345 /mm /mm
/s /s
45460 460 ICP 460 1 38 471
537 0.789 201 725 425 0.540 780 632
2 40 219
4 3 40 219
583 0.794 465 741 519 0.652 001 687
4 41 001

ICP

a 10 b 10 c 10
220 220 ICP 220




ICP 1~4
ICP
ICP

d 30 e 30 f 30

410 410 ICP 410

5

1 5
/s Kinect

Kinect



1 16 021
1.9 5.3 31.8 65.9 158.1
2 15 547
3 15 357 ICP
1.4 3.3 10.8 37.2 102.3
4 15 748
 Kinect 20165212 157

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