Figure 1.
3Dsc mesh generation
Figure 2.
Influence range chart of PFH calculation at query point Pq
Figure 3.
FPFH calculation neighborhood influence range of query point Pq
Figure 4.
Point cloud data model
Figure 5.
Initial registration results
TABLE I
INITIAL REGISTRATION ERROR TABLE
| Comparison of registration algorithms | Feature Descriptors | ||
|---|---|---|---|
| 3Dsc | PFH | FPFH | |
| SAC-IA runtime | 417.381 s | 22.727 s | 8.085 s |
| x-axis rotation error | 0.0400952 ° | 0.0474209 ° | 0.0265896 ° |
| y-axis rotation error | 0.811471 ° | 0.758933 ° | 0.709945 ° |
| z-axis rotation error | -0.740596 ° | -0.734409 ° | -0.756489 ° |
| x-axis translation error | 0.012691 mm | 0.007121 mm | 0.019262 mm |
| y-axis translation error | -0.297463 mm | -0.29991 mm | -0.298785 mm |
| z-axis translation error | -0.192225 mm | -0.194115mm | -0.194264 mm |
| distance error | 0.354395 mm | 0.357320 mm | 0.356906 mm |
Figure 6.
Accurate registration results
TABLE II
ACCURATE REGISTRATION ERROR TABLE
| Comparison of registration algorithms | Feature Descriptors | ||
|---|---|---|---|
| 3Dsc | PFH | FPFH | |
| total time | 415.765 s | 23.804 s | 9.094 s |
| SAC-IA runtime | 414.86 s | 23.15 s | 8.435 s |
| ICP runtime | 0.905 s | 0.654 s | 0.659 s |
| x-axis rotation error | 0.0141387 ° | 0.0325149 ° | 0.0134278 ° |
| y-axis rotation error | 0.764633 ° | 0.721214 ° | 0.744733 ° |
| z-axis rotation error | -0.758194 ° | -0.76543 ° | -0.770207 ° |
| x-axis translation error | 0.0128116 mm | 0.013648 mm | 0.015574 mm |
| y-axis translation error | -0.298834 mm | -0.29914 mm | -0.299785 mm |
| z-axis translation error | -0.194931 mm | -0.19437 mm | -0.193715 mm |
| distance error | 0.357021 mm | 0.357004 mm | 0.357266 mm |
Figure 7.
Tooth Model Registration Results