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http://dx.doi.org/10.6109/jkiice.2021.25.6.799

Parameter analysis in Fast Global Registration to improve accuracy and speed  

Lim, Sukhyun (Innovation Center, 3D Systems Korea)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.25, no.6, 2021 , pp. 799-806 More about this Journal
Abstract
The transforming process of point clouds with its local coordinates into a global coordinate is called registration. In contrast to the local registration which takes a long time to calculate and performs precision registration after initial rough positioning, the global registration calculates the corresponding points for registration and performs at once, so it is generally faster than the local registration, and can perform it regardless of the initial position. Among the global methods, the Fast Global Registration is one of the widely used methods due to its fast performance. However, lots of parameters should be set to increase the registration accuracy and speed. In this paper, after analyzing and experimenting the parameters and propose parameters that work effectively in actual registration. The proposed result will be helpful in setting the direction when it is necessary to use the Fast Global Registration method.
Keywords
Registration; ICP; RANSAC; Fast global registration;
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