Toward a robust and fast real-time point cloud registration with factor analysis and Student's-f mixture model

摘要

Three-dimensional (3D) point cloud registration generally involves in unsatisfied situations like Gaussian white noise, data missing and disorder in affine. This paper proposes a robust and real-time point cloud registration, which combines the Student's-t mixture model (SMM) with factor analysis. The proposed method extending the point cloud mathematical model to the orthogonal factor model and employs the SMM to fit the point cloud data, because the degree of freedom of Student's t-distribution makes it more flexible in fitting the probability distribution of data. Since the Expectation Maximization (EM) algorithm has a stable estimation ability for the mixture model, the EM algorithm is used to estimate the factor load matrix. The filed data and experimental results show that the proposed algorithm can achieve accurate registration and fast convergence even in the case of point cloud disorder, data occlusion, incomplete loss and noise.