icp matlab,Register two point clouds using ICP algorithm

pcregistericp

Register two point clouds using ICP algorithm

Description

tform = pcregistericp(moving,fixed)

returns a rigid transformation that registers a moving point cloud to a fixed

point cloud.

The registration algorithm is based on the "iterative closest point" (ICP) algorithm. Best

performance of this iterative process requires adjusting properties for your

data. Consider downsampling point clouds using pcdownsample before using

pcregistericp to improve accuracy and efficiency of

registration.

Point cloud normals are required by the registration algorithm

when you select the 'pointToPlane' metric. Therefore,

if the input point cloud’s Normal property

is empty, the function fills it. When the function fills the Normal property,

it uses 6 points to fit the local plane. Six points may not work under

all circumstances. If registration with the 'pointToPlane' metric

fails, consider calling the pcnormals function

which allows you to select the number of points to use.

[___,rmse] = pcregistericp(moving,fixed)

additionally returns the root mean square error of the Euclidean distance

between the inlier aligned points, using any of the preceding syntaxes.

[___] = pcregistericp(moving,fixed,Name,Value)

uses additional options specified by one or more Name,Value

pair arguments.

Examples

Align Two Point Clouds Using ICP Algorithm

Load point cloud data.

ptCloud = pcread('teapot.ply');

pcshow(ptCloud);

title('Teapot');

Create a transform object with 30 degree rotation along z -axis and translation [5,5,10].

A = [cos(pi/6) sin(pi/6) 0 0; ...

-sin(pi/6) cos(pi/6) 0 0; ...

0 0 1 0; ...

5 5 10 1];

tform1 = affine3d(A);

Transform the point cloud.

ptCloudTformed = pctransform(ptCloud,tform1);

pcshow(ptCloudTformed);

title('Transformed Teapot');

Apply the rigid registration.

tform = pcregistericp(ptCloudTformed,ptCloud,'Extrapolate',true);

Compare the result with the true transformation.

disp(tform1.T);

0.8660 0.5000 0 0

-0.5000 0.8660 0 0

0 0 1.0000 0

5.0000 5.0000 10.0000 1.0000

tform2 = invert(tform);

disp(tform2.T);

0.8660 0.5000 0.0000 0

-0.5000 0.8660 0.0000 0

-0.0000 -0.0000 1.0000 0

5.0000 5.0000 10.0000 1.0000

Input Arguments

moving — Moving point cloud

pointCloud object

Moving point cloud, specified as a pointCloud object.

fixed — Fixed point cloud

pointCloud object

Fixed point cloud, specified as a pointCloud object.

Name-Value Pair Arguments

Specify optional

comma-separated pairs of Name,Value arguments. Name is

the argument name and Value is the corresponding value.

Name must appear inside quotes. You can specify several name and value

pair arguments in any order as

Name1,Value1,...,NameN,ValueN.Example:'Metric','pointToPoint' sets

the metric for the ICP algorithm to the 'pointToPoint' character

vector.

'Metric' — Minimization metric

'pointToPoint' (default) | 'pointToPlane'

Minimization metric, specified as the comma-separated pair consisting

of 'Metric' and the 'pointToPoint' or 'pointToPlane' character

vector. The rigid transformation between the moving and fixed point

clouds are estimated by the iterative closest point (ICP) algorithm.

The ICP algorithm minimizes the distance between the two point clouds

according to the given metric.

Setting 'Metric' to 'pointToPlane' can

reduce the number of iterations to process. However, this metric requires

extra algorithmic steps within each iteration. The 'pointToPlane' metric

improves the registration of planar surfaces.

Downsample Method Selection:

Downsample the

point clouds using the pcdownsample function.

Use either the 'random' or

'gridAverage' input for the

pcdownsample function according to the

Metric table below.

MetricMoving PointCloud Downsample

MethodFixed Point Cloud Downsample

Method'pointToPoint''random''random'

'gridAverage''gridAverage'

'pointToPlane''gridAverage''gridAverage'

'random''nonuniformGridSample'

'Extrapolate' — Extrapolation

false (default) | true

Extrapolation, specified as the comma-separated pair consisting

of 'Extrapolate' and the boolean true or false.

When you set this property to true, the function

adds an extrapolation step that traces out a path in the registration

state space, that is described in [2]. Setting this property to true can

reduce the number of iterations to converge.

'InlierRatio' — Percentage of inliers

1 (default) | scalar

Percentage of inliers, specified as the comma-separated pair

consisting of 'InlierRatio' and a scalar value.

Use this value to set a percentage of matched pairs as inliers. A

pair of matched points is considered an inlier if its Euclidean distance

falls within the percentage set of matching distances. By default,

all matching pairs are used.

'MaxIterations' — Maximum number of iterations

20 (default) | positive integer

Maximum number of iterations, specified as the comma-separated

pair consisting of 'MaxIterations' and a positive

integer. This value specifies the maximum number of iterations before

ICP stops.

'Tolerance' — Tolerance between consecutive ICP iterations

[0.01, 0.05] (default) | 2-element vector

Tolerance between consecutive ICP iterations, specified as the comma-separated pair consisting

of 'Tolerance' and a 2-element vector. The

2-element vector, [Tdiff, Rdiff],

represents the tolerance of absolute difference in translation and

rotation estimated in consecutive ICP iterations.

Tdiff measures the Euclidean distance between two

translation vectors. Rdiff measures the angular

difference in degrees. The algorithm stops when the average difference

between estimated rigid transformations in the three most recent

consecutive iterations falls below the specified tolerance value.

'InitialTransform' — Initial rigid transformation

rigid3d object

Initial rigid transformation, specified as the comma-separated pair

consisting of 'InitialTransform' and a rigid3d object. The initial rigid transformation is useful

when you provide an external coarse estimation.

The rigid3d object contains a translation that moves

the center of the moving point cloud to the center of the fixed point

cloud.

'Verbose' — Display progress information

true (default) | false

Display progress information, specified as the comma-separated

pair consisting of 'Verbose' and a logical scalar.

Set Verbose to true to display

progress information.

Output Arguments

tform — Rigid transformation

rigid3d object

Rigid transformation, returned as a rigid3d object. The rigid transformation registers a moving

point cloud to a fixed point cloud. The rigid3d object

describes the rigid 3-D transform. The iterative closest point (ICP)

algorithm estimates the rigid transformation between the moving and fixed

point clouds.

movingReg — Transformed point cloud

pointCloud object

Transformed point cloud, returned as a pointCloud object. The transformed point cloud is

aligned with the fixed point cloud.

rmse — Root mean square error

positive numeric

Root mean square error, returned as a positive numeric value that represents the Euclidean

distance between the inlier aligned points.

Algorithms

Tips

For ground vehicle point clouds, you can improve performance and accuracy

by removing the ground using pcfitplane or segmentGroundFromLidarData before registration. For details

on how to do this, see the helper function,

helperProcessPointCloud in the Build a Map from Lidar Data(Automated Driving Toolbox)

example.

To merge more than two point clouds, you can use pccat function instead of the pcmerge function.

Compatibility Considerations

The pcregistericp function returns a rigid3d object

Behavior changed in R2020a

Starting in R2020a, the pcregistericp function returns a rigid3d

object. Prior to R2020a, the function returned an affine3d

object.

References

[1] Chen, Y. and G. Medioni. “Object

Modelling by Registration of Multiple Range Images.” Image

Vision Computing. Butterworth-Heinemann . Vol. 10, Issue

3, April 1992, pp. 145-155.

[2] Besl, Paul J., N. D. McKay. “A Method

for Registration of 3-D Shapes.” IEEE Transactions

on Pattern Analysis and Machine Intelligence. Los Alamitos,

CA: IEEE Computer Society. Vol. 14, Issue 2, 1992, pp. 239-256.

Introduced in R2018a