A method of partially overlapping point clouds registration based on differential evolution algorithm.
Ontology highlight
ABSTRACT:
SUBMITTER: Zhang X
PROVIDER: S-EPMC6303034 | biostudies-literature | 2018
REPOSITORIES: biostudies-literature
Publications
A method of partially overlapping point clouds registration based on differential evolution algorithm.
Zhang Xuetao X Yang Ben B Li Yunhao Y Zuo Changle C Wang Xuewei X Zhang Wanxu W
PloS one 20181221 12
3D point cloud registration is a key technology in 3D point cloud processing, such as 3D reconstruction, object detection. Trimmed Iterative Closest Point algorithm is a prevalent method for registration of two partially overlapping clouds. However, it relies heavily on the initial value and is liable to be trapped in to local optimum. In this paper, we adapt the Differential Evolution algorithm to obtain global optimal solution. By design appropriate evolutionary operations, the algorithm can m ...[more]
Similar Datasets
Project description:Plant phenotyping is a central task in crop science and plant breeding. It involves measuring plant traits to describe the anatomy and physiology of plants and is used for deriving traits and evaluating plant performance. Traditional methods for phenotyping are often time-consuming operations involving substantial manual labor. The availability of 3D sensor data of plants obtained from laser scanners or modern depth cameras offers the potential to automate several of these phenotyping tasks. This automation can scale up the phenotyping measurements and evaluations that have to be performed to a larger number of plant samples and at a finer spatial and temporal resolution. In this paper, we investigate the problem of registering 3D point clouds of the plants over time and space. This means that we determine correspondences between point clouds of plants taken at different points in time and register them using a new, non-rigid registration approach. This approach has the potential to form the backbone for phenotyping applications aimed at tracking the traits of plants over time. The registration task involves finding data associations between measurements taken at different times while the plants grow and change their appearance, allowing 3D models taken at different points in time to be compared with each other. Registering plants over time is challenging due to its anisotropic growth, changing topology, and non-rigid motion in between the time of the measurements. Thus, we propose a novel approach that first extracts a compact representation of the plant in the form of a skeleton that encodes both topology and semantic information, and then use this skeletal structure to determine correspondences over time and drive the registration process. Through this approach, we can tackle the data association problem for the time-series point cloud data of plants effectively. We tested our approach on different datasets acquired over time and successfully registered the 3D plant point clouds recorded with a laser scanner. We demonstrate that our method allows for developing systems for automated temporal plant-trait analysis by tracking plant traits at an organ level.
| S-EPMC7906482 | biostudies-literature
Project description:The iterative closest point (ICP) algorithm is efficient and accurate for rigid registration but it needs the good initial parameters. It is easily failed when the rotation angle between two point sets is large. To deal with this problem, a new objective function is proposed by introducing a rotation invariant feature based on the Euclidean distance between each point and a global reference point, where the global reference point is a rotation invariant. After that, this optimization problem is solved by a variant of ICP algorithm, which is an iterative method. Firstly, the accurate correspondence is established by using the weighted rotation invariant feature distance and position distance together. Secondly, the rigid transformation is solved by the singular value decomposition method. Thirdly, the weight is adjusted to control the relative contribution of the positions and features. Finally this new algorithm accomplishes the registration by a coarse-to-fine way whatever the initial rotation angle is, which is demonstrated to converge monotonically. The experimental results validate that the proposed algorithm is more accurate and robust compared with the original ICP algorithm.
| S-EPMC5703502 | biostudies-other
Project description:SummaryWe present a fast particle fusion method for particles imaged with single-molecule localization microscopy. The state-of-the-art approach based on all-to-all registration has proven to work well but its computational cost scales unfavorably with the number of particles N, namely as N2. Our method overcomes this problem and achieves a linear scaling of computational cost with N by making use of the Joint Registration of Multiple Point Clouds (JRMPC) method. Straightforward application of JRMPC fails as mostly locally optimal solutions are found. These usually contain several overlapping clusters that each consist of well-aligned particles, but that have different poses. We solve this issue by repeated runs of JRMPC for different initial conditions, followed by a classification step to identify the clusters, and a connection step to link the different clusters obtained for different initializations. In this way a single well-aligned structure is obtained containing the majority of the particles.ResultsWe achieve reconstructions of experimental DNA-origami datasets consisting of close to 400 particles within only 10 min on a CPU, with an image resolution of 3.2 nm. In addition, we show artifact-free reconstructions of symmetric structures without making any use of the symmetry. We also demonstrate that the method works well for poor data with a low density of labeling and for 3D data.Availability and implementationThe code is available for download from https://github.com/wexw/Joint-Registration-of-Multiple-Point-Clouds-for-Fast-Particle-Fusion-in-Localization-Microscopy.Supplementary informationSupplementary data are available at Bioinformatics online.
| S-EPMC9191212 | biostudies-literature
Project description:In this paper, we present an efficient algorithm for point cloud registration in presence of low overlap rate and high noise. The proposed registration method mainly includes four parts: the loop voxel filtering, the curvature-based key point selection, the robust geometric descriptor, and the determining and optimization of correspondences based on key point spatial relationship. The loop voxel filtering filters point clouds to a specified resolution. We propose a key point selection algorithm which has a better anti-noise and fast ability. The feature descriptor of key points is highly exclusive which is based on the geometric relationship between the neighborhood points and the center of gravity of the neighborhood. The correspondences in the pair of two point clouds are determined according to the combined features of key points. Finally, the singular value decomposition and ICP algorithm are applied to align two point clouds. The proposed registration method can accurately and quickly register point clouds of different resolutions in noisy situations. We validate our proposal by presenting a quantitative experimental comparison with state-of-the-art methods. Experimental results show that the proposed point cloud registration algorithm has faster calculation speed, higher registration accuracy, and better anti-noise performance.
| S-EPMC7485869 | biostudies-literature
Project description:To achieve six degree-of-freedom autonomous navigation of an inboard spacecraft, a novel algorithm called iterative closest imaging point (ICIP) is proposed, which deals with the pose estimation problem of a vision navigation system (VNS). This paper introduces the basics of the ICIP algorithm, including mathematical model, algorithm architecture, and convergence theory. On this basis, a navigation method is proposed. This method realizes its initialization using a Gaussian mixture model-based Kalman filter, which simultaneously solves the 3D-to-2D point correspondences and the camera pose. The initial value sensitivity, computational efficiency, robustness, and accuracy of the proposed navigation method are discussed based on simulation results. A navigation experiment verifies that the proposed method works effectively. The three-axis Euler angle accuracy is within 0.19° (1σ), and the three-axis position accuracy is within 1.87 mm (1σ). The ICIP algorithm estimates the full-state pose by merely finding the closest point couples respectively form the images obtained by the VNS and predicted at an initial value. Then the optimized solution of the imaging model is iteratively calculated and the full-state pose is obtained. Benefiting from the absence of a requirement for feature matching, the proposed navigation method offers advantages of low computational complexity, favorable stability, and applicability in an extremely simple environment in comparison with conventional methods.
| S-EPMC5727184 | biostudies-literature
Project description:Current genome walking methods are cumbersome to perform and can result in non-specific products. Here, we demonstrate the use of partially overlapping primer-based PCR (POP-PCR), a direct genome walking technique for the isolation of unknown flanking regions. This method exploits the partially overlapping characteristic at the 3' ends of a set of POP primers (walking primers), which guarantees that the POP primer only anneals to the POP site of the preceding PCR product at relatively low temperatures. POP primer adaptation priming at the genomic DNA/POP site occurs only once due to one low-/reduced-stringency cycle in each nested PCR, resulting in the synthesis of a pool of single-stranded DNA molecules. Of this pool, the target single-stranded DNA is replicated to the double-stranded form bound by the specific primer and the POP primer in the subsequent high-stringency cycle due to the presence of the specific primer-binding site. The non-target single stranded DNA does not become double stranded due to the absence of a binding site for any of the primers. Therefore, the POP-PCR enriches target DNA while suppressing non-target products. We successfully used POP-PCR to retrieve flanking regions bordering the gadA locus in Lactobacillus brevis NCL912, malQ in Pichia pastoris GS115, the human aldolase A gene, and hyg in rice.
| S-EPMC4374871 | biostudies-literature
Project description:A stepwise partially overlapping primer-based PCR (SWPOP-PCR) method for isolating flanking unknown DNA regions was developed, which comprises three rounds of nested PCRs sequentially driven by SWPOP primer-nested specific primer pairs. SWPOP primer set is characterized by a partial overlap of 10 bp with 3'-part of the latter primer is identical to 5'-part of the former one, which makes the SWPOP primer in use anneal to SWPOP site of the prior PCR product only at relatively low temperature. For each PCR, target single-stranded DNA primed by the SWPOP primer in the exclusive one low-stringency cycle is converted into double-stranded form in the following high-stringency cycle due to the presence of a perfect annealing site for the specific primer. This double-stranded DNA bounded by the specific primer and the SWPOP primer is exponentially amplified in the remaining high-stringency cycles. Non-target single-stranded DNA, however, cannot be amplified given the lack of perfect complementary sequences for any primers. Therefore, the partial overlap of a SWPOP primer set preferentially synthesizes target products but inhibits nonspecific amplification. We successfully exploited SWPOP-PCR to obtain the DNA sequences flanking glutamate decarboxylase gene (gadA) locus in Lactobacillus brevis NCL912 and hygromycin gene (hyg) integrated in rice.
| S-EPMC5943200 | biostudies-literature
Project description:We present a probabilistic registration algorithm that robustly solves the problem of rigid-body alignment between two shapes with high accuracy, by aptly modeling measurement noise in each shape, whether isotropic or anisotropic. For point-cloud shapes, the probabilistic framework additionally enables modeling locally-linear surface regions in the vicinity of each point to further improve registration accuracy. The proposed Iterative Most-Likely Point (IMLP) algorithm is formed as a variant of the popular Iterative Closest Point (ICP) algorithm, which iterates between point-correspondence and point-registration steps. IMLP's probabilistic framework is used to incorporate a generalized noise model into both the correspondence and the registration phases of the algorithm, hence its name as a most-likely point method rather than a closest-point method. To efficiently compute the most-likely correspondences, we devise a novel search strategy based on a principal direction (PD)-tree search. We also propose a new approach to solve the generalized total-least-squares (GTLS) sub-problem of the registration phase, wherein the point correspondences are registered under a generalized noise model. Our GTLS approach has improved accuracy, efficiency, and stability compared to prior methods presented for this problem and offers a straightforward implementation using standard least squares. We evaluate the performance of IMLP relative to a large number of prior algorithms including ICP, a robust variant on ICP, Generalized ICP (GICP), and Coherent Point Drift (CPD), as well as drawing close comparison with the prior anisotropic registration methods of GTLS-ICP and A-ICP. The performance of IMLP is shown to be superior with respect to these algorithms over a wide range of noise conditions, outliers, and misalignments using both mesh and point-cloud representations of various shapes.
| S-EPMC4352012 | biostudies-literature
Project description:Landslides are major and constantly changing threats to urban landscapes and infrastructure. It is essential to detect and capture landslide changes regularly. Traditional methods for monitoring landslides are time-consuming, costly, dangerous, and the quality and quantity of the data is sometimes unable to meet the necessary requirements of geotechnical projects. This motivates the development of more automatic and efficient remote sensing approaches for landslide progression evaluation. Automatic change detection involving low-altitude unmanned aerial vehicle image-based point clouds, although proven, is relatively unexplored, and little research has been done in terms of accounting for volumetric changes. In this study, a methodology for automatically deriving change displacement rates, in a horizontal direction based on comparisons between extracted landslide scarps from multiple time periods, has been developed. Compared with the iterative closest projected point (ICPP) registration method, the developed method takes full advantage of automated geometric measuring, leading to fast processing. The proposed approach easily processes a large number of images from different epochs and enables the creation of registered image-based point clouds without the use of extensive ground control point information or further processing such as interpretation and image correlation. The produced results are promising for use in the field of landslide research.
| S-EPMC5677266 | biostudies-literature
Project description:sensaas is a tool developed for aligning and comparing molecular shapes and sub-shapes. Alignment is obtained by registration of 3D point-based representations of the van der Waals surface. The method uses local properties of the shape to identify the correspondence relationships between two point clouds containing up to several thousand colored (labeled) points. Our rigid-body superimposition method follows a two-stage approach. An initial alignment is obtained by matching pose-invariant local 3D descriptors, called FPFH, of the input point clouds. This stage provides a global superimposition of the molecular surfaces, without any knowledge of their initial pose in 3D space. This alignment is then refined by optimizing the matching of colored points. In our study, each point is colored according to its closest atom, which itself belongs to a user defined physico-chemical class. Finally, sensaas provides an alignment and evaluates the molecular similarity by using Tversky coefficients. To assess the efficiency of this approach, we tested its ability to reproduce the superimposition of X-ray structures of the benchmarking AstraZeneca (AZ) data set and, compared its results with those generated by the two shape-alignment approaches shaep and shafts. We also illustrated submatching properties of our method with respect to few substructures and bioisosteric fragments. The code is available upon request from the authors (demo version at https://chemoinfo.ipmc.cnrs.fr/SENSAAS).
| S-EPMC7507133 | biostudies-literature