Improved point cloud registration algorithm based on ICP algorithm and bursa model

doi:10.13474/j.cnki.11-2246.2025.0612

Abstract

Abstract: This paper proposes an improved point cloud registration algorithm based on the iterative closest point(ICP)algorithm to address the issue that the Bursa model is only suitable for small angle point cloud registration.Firstly, rough registration of the point cloud is performed using the ICP algorithm, and the source point set is iteratively rotated and translated until the convergence result meets the requirements for using the Bursa model.Then, based on the principle of indirect adjustment, the Bursa model is used to achieve accurate registration of the source point set.The experiment shows that the root mean squared error(RMSE)for accurate registration results of ICP-Bursa algorithm is less than 0.010 m, which not only compensates for the limitations of the applicability of the Bursa model, but also improves the registration accuracy of the traditional ICP algorithm by 97.8%, 95.8%, and 96.5% in the X-axis, Y-axis, and Z-axis directions, respectively.

Key words: ICP, Bursa model, point cloud registration, RMSE

CLC Number:

P237

ZHANG Mingmin, HU Qiubao, HUANG Tuanchong, LIU Yicheng, ZHENG Jinxin. Improved point cloud registration algorithm based on ICP algorithm and bursa model[J]. Bulletin of Surveying and Mapping, 2025, 0(6): 68-72.

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