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Research on Point Cloud Registering Method of Tunneling Roadway Based on 3D NDT-ICP Algorithm

In order to meet the needs of intelligent perception of the driving environment, a point cloud registering method based on 3D NDT-ICP algorithm is proposed to improve the modeling accuracy of tunneling roadway environments. Firstly, Voxel Grid filtering method is used to preprocess the point cloud o...

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Autores principales: Yang, Jianjian, Wang, Chao, Luo, Wenjie, Zhang, Yuchen, Chang, Boshen, Wu, Miao
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8271843/
https://www.ncbi.nlm.nih.gov/pubmed/34209739
http://dx.doi.org/10.3390/s21134448
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author Yang, Jianjian
Wang, Chao
Luo, Wenjie
Zhang, Yuchen
Chang, Boshen
Wu, Miao
author_facet Yang, Jianjian
Wang, Chao
Luo, Wenjie
Zhang, Yuchen
Chang, Boshen
Wu, Miao
author_sort Yang, Jianjian
collection PubMed
description In order to meet the needs of intelligent perception of the driving environment, a point cloud registering method based on 3D NDT-ICP algorithm is proposed to improve the modeling accuracy of tunneling roadway environments. Firstly, Voxel Grid filtering method is used to preprocess the point cloud of tunneling roadways to maintain the overall structure of the point cloud and reduce the number of point clouds. After that, the 3D NDT algorithm is used to solve the coordinate transformation of the point cloud in the tunneling roadway and the cell resolution of the algorithm is optimized according to the environmental features of the tunneling roadway. Finally, a kd-tree is introduced into the ICP algorithm for point pair search, and the Gauss–Newton method is used to optimize the solution of nonlinear objective function of the algorithm to complete accurate registering of tunneling roadway point clouds. The experimental results show that the 3D NDT algorithm can meet the resolution requirement when the cell resolution is set to 0.5 m under the condition of processing the point cloud with the environmental features of tunneling roadways. At this time, the registering time is the shortest. Compared with the NDT algorithm, ICP algorithm and traditional 3D NDT-ICP algorithm, the registering speed of the 3D NDT-ICP algorithm proposed in this paper is obviously improved and the registering error is smaller.
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spelling pubmed-82718432021-07-11 Research on Point Cloud Registering Method of Tunneling Roadway Based on 3D NDT-ICP Algorithm Yang, Jianjian Wang, Chao Luo, Wenjie Zhang, Yuchen Chang, Boshen Wu, Miao Sensors (Basel) Article In order to meet the needs of intelligent perception of the driving environment, a point cloud registering method based on 3D NDT-ICP algorithm is proposed to improve the modeling accuracy of tunneling roadway environments. Firstly, Voxel Grid filtering method is used to preprocess the point cloud of tunneling roadways to maintain the overall structure of the point cloud and reduce the number of point clouds. After that, the 3D NDT algorithm is used to solve the coordinate transformation of the point cloud in the tunneling roadway and the cell resolution of the algorithm is optimized according to the environmental features of the tunneling roadway. Finally, a kd-tree is introduced into the ICP algorithm for point pair search, and the Gauss–Newton method is used to optimize the solution of nonlinear objective function of the algorithm to complete accurate registering of tunneling roadway point clouds. The experimental results show that the 3D NDT algorithm can meet the resolution requirement when the cell resolution is set to 0.5 m under the condition of processing the point cloud with the environmental features of tunneling roadways. At this time, the registering time is the shortest. Compared with the NDT algorithm, ICP algorithm and traditional 3D NDT-ICP algorithm, the registering speed of the 3D NDT-ICP algorithm proposed in this paper is obviously improved and the registering error is smaller. MDPI 2021-06-29 /pmc/articles/PMC8271843/ /pubmed/34209739 http://dx.doi.org/10.3390/s21134448 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Yang, Jianjian
Wang, Chao
Luo, Wenjie
Zhang, Yuchen
Chang, Boshen
Wu, Miao
Research on Point Cloud Registering Method of Tunneling Roadway Based on 3D NDT-ICP Algorithm
title Research on Point Cloud Registering Method of Tunneling Roadway Based on 3D NDT-ICP Algorithm
title_full Research on Point Cloud Registering Method of Tunneling Roadway Based on 3D NDT-ICP Algorithm
title_fullStr Research on Point Cloud Registering Method of Tunneling Roadway Based on 3D NDT-ICP Algorithm
title_full_unstemmed Research on Point Cloud Registering Method of Tunneling Roadway Based on 3D NDT-ICP Algorithm
title_short Research on Point Cloud Registering Method of Tunneling Roadway Based on 3D NDT-ICP Algorithm
title_sort research on point cloud registering method of tunneling roadway based on 3d ndt-icp algorithm
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8271843/
https://www.ncbi.nlm.nih.gov/pubmed/34209739
http://dx.doi.org/10.3390/s21134448
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