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As a fundamental process of three-dimensional lidar point cloud data (3D LPCD) processing, numerous registration methods are time consuming and easily fall into local optimum. A 3D LPCD registration method based on the iterative closest point (ICP) algorithm, which is improved by the Gaussian mixture model (GMM) considering corner features, is proposed in this article to address these limitations. The GMM method is used for coarse registration, and the input original 3D LPCD is replaced by corner features extracted by the improved 3D Harris algorithm to improve the efficiency of coarse registration. In addition, a satisfactory initial position between the reference and the moving 3D LPCD is prepared for ICP fine registration by coarse registration; thus, the accuracy of fine registration can be improved. The registration accuracy and efficiency of the new method is proved to be higher than those of four common ICP-based registration methods (3DSC-RANSACICP, 3DSC-SAC-IAICP, FPFH-RANSACICP, and FPFH-SAC-IAICP), and GMM registration methods, and the local optimum problem is effectively addressed.

Laser point cloud registration method based on iterative closest point improved by Gaussian mixture model considering corner features