Independent Method for Selecting Radius of FPFH Neighborhood in 3D Point Cloud Registration

Mingfu, 赵明富 Zhao; Libo, 曹利波 Cao; Tao, 宋涛 Song; Shuai, 刘帅 Liu; Yuhang, 罗宇航 Luo; Xin, 杨鑫 Yang

doi:10.3788/lop202158.0610002

Cited by 2 publications

(1 citation statement)

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“…According to FPFH theory, for different numbers of searched neighbor points, the fitted surface and normal vector of the same point are different, and the components of FPFH in each interval will also change [26,28]. When the search radius is too small (k = 2), there will be more empty values in the FPFH components (as shown in Figure 3).…”

Section: Determination Of Fpfh Neighborhood Searching Rangesmentioning

confidence: 99%

A Tree Point Cloud Simplification Method Based on FPFH Information Entropy

Fang

et al. 2023

Forests

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LiDAR technology has been widely used in forest survey and research, but the high-resolution point cloud data generated by LiDAR equipment also pose challenges in storage and computing. To address this problem, we propose a point cloud simplification method for trees, which considers both higher similarity to the original point cloud and the area of the tree point cloud. The method first determines the optimal search neighborhood using the standard deviation of FPFH information entropy. Based on FPFH information entropy and Poisson disc sampling theory, the point cloud is partitioned and sampled. By optimizing the separation thresholds of significant feature points and less significant feature points using a genetic algorithm with the Hausdorff distance and point cloud area as the objective function, the final simplified point cloud is obtained. Validation with two point cloud data sets shows that the proposed method achieves good retention of the area information of the original point cloud while ensuring point cloud quality. The research provides new approaches and techniques for processing large-scale forest LiDAR scan point clouds, reducing storage and computing requirements. This can improve the efficiency of forest surveys and monitoring.

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Section: Determination Of Fpfh Neighborhood Searching Rangesmentioning

confidence: 99%