Fast color point cloud registration based on virtual viewpoint image

With the increase of point cloud scale, time required by traditional ICP-related registration methods increases dramatically, which cannot meet requirements large-scale clouds. In this paper, a fast technique for large scale clouds based on virtual viewpoint image generation is studied. Firstly, projection color generated viewpoint. Then, feature extracted ORB and rotation translation matrix calculated. The experimental results show that proposed method about 1s when size from 300,000 to 2 million, improved 17–258 times compared with ICP method, error reduced 80% 5.0 1.0. This paper provides new idea registration.