How to perform registration of two point clouds with different resolution

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How to perform registration of two point clouds with different resolution

Lesliecasas
Hi everybody, i am trying to registrate two cloud points, the first one is from a laser scanner of aprox 160kdpi and the other comes from a 3d reconstruction using stereo vision. For example, the ones i am using  : the first has 65000 points and the second 4000.

I've read the paper for FPFH and it takes a neighborhood of points of the same size, does it work in this case, when the neighborhood on both cases doesn't mean the same dimensions?
If not i should interpolate one in order to match the big one? or i may use instead of points, surfaces?
Pls can you help me. how to preprocess my cloud points?

Thanks

Leslie
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Re: How to perform registration of two point clouds with different resolution

Radu B Rusu
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Leslie,


On 06/14/2012 04:37 PM, Lesliecasas wrote:
> Hi everybody, i am trying to registrate two cloud points, the first one is
> from a laser scanner of aprox 160kdpi and the other comes from a 3d
> reconstruction using stereo vision. For example, the ones i am using  : the
> first has 65000 points and the second 4000.
>
> I've read the paper for FPFH and it takes a neighborhood of points of the
> same size, does it work in this case, when the neighborhood on both cases
> doesn't mean the same dimensions?

What do you mean by "same dimensions"? Is the data still 3D? Is it still in the same coordinate system / metric units?
What is different? Just the point density?


> If not i should interpolate one in order to match the big one? or i may use
> instead of points, surfaces?
> Pls can you help me. how to preprocess my cloud points?

If we're only talking about point density, I would recommend some density "regularizers", such as MLS or VoxelGrids, etc.

Cheers,
Radu.
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Re: How to perform registration of two point clouds with different resolution

Lesliecasas
Yes it is just point density, both use the same metric system. About the regularizers(voxel grid, MLS). Do you mean that i need to use it before applying fpfh for registration or that i need to look for another techniques of registration for clouds with different point density.

Thanks a lot, i don't have much experience in the field.


Leslie
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Re: How to perform registration of two point clouds with different resolution

Radu B Rusu
Administrator
Leslie,


On 06/14/2012 08:52 PM, Lesliecasas wrote:
> Yes it is just point density, both use the same metric system. About the
> regularizers(voxel grid, MLS). Do you mean that i need to use it before
> applying fpfh for registration or that i need to look for another techniques
> of registration for clouds with different point density.

Apply before FPFH estimation and registration.

Cheers,
Radu.

>
> Thanks a lot, i don't have much experience in the field.
>
>
> Leslie
>
> --
> View this message in context: http://www.pcl-users.org/How-to-perform-registration-of-two-point-clouds-with-different-resolution-tp4019353p4019360.html
> Sent from the Point Cloud Library (PCL) Users mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users
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