OCTREE-BASED SIMD STRATEGY FOR ICP REGISTRATION AND ALIGNMENT OF 3D POINT CLOUDS

Abstract. Matching and fusion of 3D point clouds, such as close range laser scans, is important for creating an integrated 3D model data infrastructure. The Iterative Closest Point algorithm for alignment of point clouds is one of the most commonly used algorithms for matching of rigid bodies. Evidently, scans are acquired from different positions and might present different data characterization and accuracies, forcing complex data-handling issues. The growing demand for near real-time applications also introduces new computational requirements and constraints into such processes. This research proposes a methodology to solving the computational and processing complexities in the ICP algorithm by introducing specific performance enhancements to enable more efficient analysis and processing. An Octree data structure together with the caching of localized Delaunay triangulation-based surface meshes is implemented to increase computation efficiency and handling of data. Parallelization of the ICP process is carried out by using the Single Instruction, Multiple Data processing scheme – based on the Divide and Conquer multi-branched paradigm – enabling multiple processing elements to be performed on the same operation on multiple data independently and simultaneously. When compared to the traditional non-parallel list processing the Octree-based SIMD strategy showed a sharp increase in computation performance and efficiency, together with a reliable and accurate alignment of large 3D point clouds, contributing to a qualitative and efficient application.