Registration of unorganized points data under different viewpoints based on improved evolutional algorithm

A integrated matching method with DE and ICP algorithm was proposed to match partly overlapped data clouds measured from different viewpoints. Firstly, data clouds were roughly matched with DE algorithm method and then ICP algorithm method was employed in the accuracy registration. In differential evolution, quaternion method was used to decrease the individual numbers of revolution space, to avoid premature convergence and improve optimizing speed, the probabilities of crossover and mutation were adaptively adjusted by means of adaptive algorithm. Some examples proved the method was effective and efficient for aligning large number of three dimension clouds data.