Rigid registration of 3D point clouds is the key technology in robotics and computer vision. Most commonly, the iterative closest point (ICP) and its variants are employed for this task. These methods assume that the closest point is the corresponding point and lead to sensitivity to the outlier and initial pose, while they have poor computational efficiency due to the closest point computation. Most implementations of the ICP algorithm attempt to deal with this issue by modifying correspondence or adding coarse registration. However, this leads to sacrificing the accuracy rate or adding the algorithm complexity. This paper proposes a hierarchical optimization approach that includes improved voxel filter and Multi-Scale Voxelized Generalized-ICP (MVGICP) for 3D point cloud registration. By combining traditional voxel sampling with point density, the outlier filtering and downsample are successfully realized. Through multi-scale iteration and avoiding closest point computation, MVGICP solves the local minimum problem and optimizes the operation efficiency. The experimental results demonstrate that the proposed algorithm is superior to the current algorithms in terms of outlier filtering and registration performance.
Keywords: 3D point cloud registration; improved voxel filter; multi-scale voxelized GICP.