Laser Radar Data Registration Algorithm Based on DBSCAN Clustering

Abstract

At present, the core of lidar data registration algorithms depends on search correspondence, which has become the core factor limiting the performance of this kind of algorithm. For point-based algorithms, the data coincidence rate is too low, and for line-based algorithms, the method of searching the correspondence is too complex and unstable. In this paper, a laser radar data registration algorithm based on DBSCAN (Density-Based Spatial Clustering of Applications with Noise) clustering is proposed, which avoids the search and establishment of the corresponding relationship. Firstly, a ring band filter is designed to process the outliers with noise in a point cloud. Then, the adaptive threshold is used to extract the line segment features in the laser radar point cloud. For the point cloud to be registered, a DBSCAN density clustering algorithm is used to obtain the key clusters of the rotation angle and translation matrix. In order to evaluate the similarity of the two frames of the point cloud in the key clusters after data registration, a kernel density estimation method is proposed to describe the registered point cloud, and K-L divergence is used to find the optimal value in the key clusters. The experimental results show that the proposed algorithm avoids the direct search of the correspondence between points or lines in complex scenes with many outliers in laser point clouds, which can effectively improve the robustness of the algorithm and suppress the influence of outliers on the algorithm. The relative error between the registration result and the actual value is within 10%, and the accuracy is better than the ICP algorithm.