Automatic Point Cloud Registration for 3D Virtual-to-Real Registration Using Macro and Micro Structures.

Virtual-to-real registration is a crucial aspect of 3D registration, which presents a more challenging multimodal 3D registration problem due to the different data structures between virtual and real models. In this paper, we utilize point cloud registration algorithm to align virtual and real models, transforming the multimodal 3D registration problem into a cross-source point cloud registration problem. We propose a method for extracting macro and micro structures to represent the shared features of virtual and real models, combined with a multi-constraint registration algorithm, to achieve high-accuracy virtual-to-real registration tasks. This method can register unseen 3D objects using virtual prior knowledge, and allow partial point cloud registration without the need for a 360-degree scan of the model. Our approach can effectively resist interference from typical cross-source point cloud registration problems such as varying densities, missing data, and distribution changes. Furthermore, by processing only 0.2% of the original number of point clouds through downsampling, we can effectively diminish the effects of noise and outlier, as well as significantly decrease time consuming. Experimental results show that our algorithm outperforms other advanced point cloud registration algorithms in cross-source point cloud registration for virtual-to-real registration.