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  • Received: Apr. 11, 2020

    Accepted: Apr. 30, 2020

    Posted: Jun. 15, 2020

    Published Online: Jun. 16, 2020

    The Author Email: Chang Wang (

    DOI: 10.3788/COL202018.071001

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    Qin Shu, Xiuli He, Chang Wang, Yunxiu Yang. Parallel registration algorithm with arbitrary affine transformation[J]. Chinese Optics Letters, 2020, 18(7): 071001

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Chinese Optics Letters, Vol. 18, Issue 7, 071001 (2020)

Parallel registration algorithm with arbitrary affine transformation

Qin Shu1, Xiuli He1, Chang Wang1,*, and Yunxiu Yang2

Author Affiliations

  • 1College of Electrical Engineering, Sichuan University, Chengdu 610065, China
  • 2Southwest Institute of Technical Physics, Chengdu 610041, China


The point clouds scanned by a 3D laser scanner may be affine transformed when the size and posture of the objects being scanned are different. This type of problem is common, but few algorithms can solve it. Therefore, this Letter proposes a parallel registration algorithm. The algorithm eliminates the effects of the affine matrix in the point cloud, based on a simple whitening operation. Moreover, it also has strong anti-noise performance. The algorithm proposed in this Letter is not only simple in structure, but also shows excellent effects in practical applications and simulations.


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