An Efficient and Stable Registration Framework for Large Point Clouds at Two Different Moments

Point cloud registration plays a great role in many application scenarios; however, the registration of large-scale point clouds for actual different moments suffers from the problems of low efficiency, low accuracy, and a lack of stability. In this paper, we propose a registration framework for large-scale point clouds at different moments, which firstly downsamples large-scale point clouds using a random sampling method, then performs a random expansion strategy to make up for the loss of information caused by the random sampling, then completes the first registration by a deep learning network based on the extraction of keypoints and feature descriptors in combination with RANSAC, and finally completes the registration using the point-to-point ICP method. We conducted validation experiments and application experiments on large-scale point clouds of key train components, and the experimental results are much higher in accuracy or efficiency than other methods, which proves the effectiveness of our framework, which can be applied to actual large-scale point clouds.