Journal of Computer Applications ›› 2022, Vol. 42 ›› Issue (7): 2184-2191.DOI: 10.11772/j.issn.1001-9081.2021071319
• Multimedia computing and computer simulation • Previous Articles
Tingwei QIN1,2, Pengcheng ZHAO1,2, Pinle QIN1,2(), Jianchao ZENG1,2, Rui CHAI1,2, Yongqi HUANG1,2
Received:
2021-07-22
Revised:
2021-10-13
Accepted:
2021-10-18
Online:
2021-11-01
Published:
2022-07-10
Contact:
Pinle QIN
About author:
QIN Tingwei, born in 1997, M. S. candidate. His research interests include point cloud registration, machine learning.Supported by:
秦庭威1,2, 赵鹏程1,2, 秦品乐1,2(), 曾建朝1,2, 柴锐1,2, 黄永琦1,2
通讯作者:
秦品乐
作者简介:
秦庭威(1997—),男,陕西渭南人,硕士研究生,CCF会员,主要研究方向:点云配准、机器学习基金资助:
CLC Number:
Tingwei QIN, Pengcheng ZHAO, Pinle QIN, Jianchao ZENG, Rui CHAI, Yongqi HUANG. Point cloud registration algorithm based on residual attention mechanism[J]. Journal of Computer Applications, 2022, 42(7): 2184-2191.
秦庭威, 赵鹏程, 秦品乐, 曾建朝, 柴锐, 黄永琦. 基于残差注意力机制的点云配准算法[J]. 《计算机应用》唯一官方网站, 2022, 42(7): 2184-2191.
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URL: http://www.joca.cn/EN/10.11772/j.issn.1001-9081.2021071319
算法 | 旋转 | 平移 | ||||
---|---|---|---|---|---|---|
均方误差 | 均方根误差 | 绝对平均误差 | 均方误差 | 均方根误差 | 绝对平均误差 | |
ICP | 911.478 455 | 30.190 701 | 26.454 945 | 0.096 454 | 0.310 570 | 0.279 845 |
Go-ICP | 158.565 457 | 12.592 278 | 3.296 845 | 0.000 892 | 0.029 866 | 0.008 194 |
PointNetLK | 240.456 441 | 15.506 657 | 4.847 512 | 0.000 539 | 0.023 216 | 0.006 258 |
本文算法 | 61.045283 | 7.813148 | 2.854556 | 0.000283 | 0.016822 | 0.004146 |
Tab. 1 Training and testing on all data of ModelNet40
算法 | 旋转 | 平移 | ||||
---|---|---|---|---|---|---|
均方误差 | 均方根误差 | 绝对平均误差 | 均方误差 | 均方根误差 | 绝对平均误差 | |
ICP | 911.478 455 | 30.190 701 | 26.454 945 | 0.096 454 | 0.310 570 | 0.279 845 |
Go-ICP | 158.565 457 | 12.592 278 | 3.296 845 | 0.000 892 | 0.029 866 | 0.008 194 |
PointNetLK | 240.456 441 | 15.506 657 | 4.847 512 | 0.000 539 | 0.023 216 | 0.006 258 |
本文算法 | 61.045283 | 7.813148 | 2.854556 | 0.000283 | 0.016822 | 0.004146 |
算法 | 旋转 | 平移 | ||||
---|---|---|---|---|---|---|
均方误差 | 均方根误差 | 绝对平均误差 | 均方误差 | 均方根误差 | 绝对平均误差 | |
ICP | 901.144 123 | 30.019 062 | 24.565 215 | 0.092 549 | 0.304 218 | 0.281 916 |
Go-ICP | 194.451 413 | 13.944 583 | 3.245 444 | 0.000 512 | 0.0226 27 | 0.007 219 |
PointNetLK | 314.554 104 | 17.735 671 | 6.345 844 | 0.000 849 | 0.029 138 | 0.008 106 |
本文算法 | 84.145566 | 9.173089 | 3.155154 | 0.000454 | 0.021307 | 0.005651 |
Tab. 2 Testing on unknown object class data of ModelNet40
算法 | 旋转 | 平移 | ||||
---|---|---|---|---|---|---|
均方误差 | 均方根误差 | 绝对平均误差 | 均方误差 | 均方根误差 | 绝对平均误差 | |
ICP | 901.144 123 | 30.019 062 | 24.565 215 | 0.092 549 | 0.304 218 | 0.281 916 |
Go-ICP | 194.451 413 | 13.944 583 | 3.245 444 | 0.000 512 | 0.0226 27 | 0.007 219 |
PointNetLK | 314.554 104 | 17.735 671 | 6.345 844 | 0.000 849 | 0.029 138 | 0.008 106 |
本文算法 | 84.145566 | 9.173089 | 3.155154 | 0.000454 | 0.021307 | 0.005651 |
算法 | 旋转 | 平移 | ||||
---|---|---|---|---|---|---|
均方误差 | 均方根误差 | 绝对平均误差 | 均方误差 | 均方根误差 | 绝对平均误差 | |
ICP | 896.454 135 | 29.940 843 | 24.454 120 | 0.088 652 | 0.297 745 | 0.261 245 |
Go-ICP | 132.451 575 | 11.508 761 | 2.652 314 | 0.000 569 | 0.023 853 | 0.004 896 |
PointNetLK | 262.451 567 | 16.200 357 | 4.784 552 | 0.000 498 | 0.022 316 | 0.006 205 |
本文算法 | 70.512 636 | 8.397 180 | 2.559 214 | 0.000 278 | 0.016 673 | 0.004 526 |
Tab. 3 Testing on data with Gaussian noise added of ModelNet40
算法 | 旋转 | 平移 | ||||
---|---|---|---|---|---|---|
均方误差 | 均方根误差 | 绝对平均误差 | 均方误差 | 均方根误差 | 绝对平均误差 | |
ICP | 896.454 135 | 29.940 843 | 24.454 120 | 0.088 652 | 0.297 745 | 0.261 245 |
Go-ICP | 132.451 575 | 11.508 761 | 2.652 314 | 0.000 569 | 0.023 853 | 0.004 896 |
PointNetLK | 262.451 567 | 16.200 357 | 4.784 552 | 0.000 498 | 0.022 316 | 0.006 205 |
本文算法 | 70.512 636 | 8.397 180 | 2.559 214 | 0.000 278 | 0.016 673 | 0.004 526 |
算法 | 旋转 | 平移 | ||||
---|---|---|---|---|---|---|
均方误差 | 均方根误差 | 绝对平均误差 | 均方误差 | 均方根误差 | 绝对平均误差 | |
PointNetLK | 240.456 441 | 15.506 657 | 4.847 512 | 0.000 539 | 0.023 216 | 0.006 258 |
APointNetLK | 178.165 455 | 13.347 863 | 3.845 162 | 0.000 386 | 0.019 647 | 0.004 948 |
DGCNNLK | 84.159 554 | 9.173 851 | 3.245 457 | 0.000 326 | 0.018 055 | 0.004 256 |
本文算法 | 61.045283 | 7.813148 | 2.854556 | 0.000283 | 0.016822 | 0.004146 |
Tab. 4 Comparison of feature learning among APointNet, DGCNN and ADGCNN
算法 | 旋转 | 平移 | ||||
---|---|---|---|---|---|---|
均方误差 | 均方根误差 | 绝对平均误差 | 均方误差 | 均方根误差 | 绝对平均误差 | |
PointNetLK | 240.456 441 | 15.506 657 | 4.847 512 | 0.000 539 | 0.023 216 | 0.006 258 |
APointNetLK | 178.165 455 | 13.347 863 | 3.845 162 | 0.000 386 | 0.019 647 | 0.004 948 |
DGCNNLK | 84.159 554 | 9.173 851 | 3.245 457 | 0.000 326 | 0.018 055 | 0.004 256 |
本文算法 | 61.045283 | 7.813148 | 2.854556 | 0.000283 | 0.016822 | 0.004146 |
算法 | 误差≤ 0.01的点对个数 | 误差>0.01的点对个数 | 准确率/% |
---|---|---|---|
ICP | 4 824 | 2 066 | 70.01 |
Go-ICP | 5 128 | 1 762 | 74.43 |
PointNetLK | 5 396 | 1 494 | 78.32 |
本文算法 | 5 876 | 1 014 | 85.28 |
Tab.5 Registration results of human body point cloud models before and after radiotherapy
算法 | 误差≤ 0.01的点对个数 | 误差>0.01的点对个数 | 准确率/% |
---|---|---|---|
ICP | 4 824 | 2 066 | 70.01 |
Go-ICP | 5 128 | 1 762 | 74.43 |
PointNetLK | 5 396 | 1 494 | 78.32 |
本文算法 | 5 876 | 1 014 | 85.28 |
算法 | 头(1 045对)准确率 | 胸(549对)准确率 | 腹(536对)准确率 | 胳膊(1 214对)准确率 | 腿(694对)准确率 |
---|---|---|---|---|---|
ICP | 71.29 | 85.79 | 75.93 | 82.37 | 63.54 |
Go-ICP | 75.41 | 90.35 | 81.72 | 88.63 | 62.97 |
PointNetLK | 80.77 | 93.62 | 85.26 | 89.95 | 70.61 |
本文算法 | 84.98 | 95.08 | 86.57 | 92.34 | 71.33 |
Tab. 6 Registration results of human body parts before and after radiotherapy
算法 | 头(1 045对)准确率 | 胸(549对)准确率 | 腹(536对)准确率 | 胳膊(1 214对)准确率 | 腿(694对)准确率 |
---|---|---|---|---|---|
ICP | 71.29 | 85.79 | 75.93 | 82.37 | 63.54 |
Go-ICP | 75.41 | 90.35 | 81.72 | 88.63 | 62.97 |
PointNetLK | 80.77 | 93.62 | 85.26 | 89.95 | 70.61 |
本文算法 | 84.98 | 95.08 | 86.57 | 92.34 | 71.33 |
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