Automatic Registration Algorithm for the Point Clouds Based on the Optimized RANSAC and IWOA Algorithms for Robotic Manufacturing

In order to solve the problems of low accuracy and efficiency point cloud registration for stereo camera systems, we propose a binocular method based on IWOA Improved ICP. We following approaches in this paper—the process is divided into two steps complete initial coarse exact registration. stage, an improved Whale Optimization Algorithm (IWOA) nonlinear convergence factor adaptive weight coefficients was proposed realize combination with RANSAC algorithm, obtained transformation matrix used as estimate subsequent algorithm. second step IICP algorithm introduction normal vector weighting constraints at key points achieving This verified by using Stanford clouds (bunnies monkeys) our own paper has high accuracy, speed, speed.