Robust registration of partially overlapping point sets via genetic algorithm with growth operator

Recently, genetic algorithm (GA) has been introduced as an effective method to solve the registration problem. It maintains a population of candidate solutions for the problem and evolves by iteratively applying a set of stochastic operators. Accordingly, a key question is how to reduce the population size. In this study, the authors present two techniques for reducing the population size in the GA for registration of partially overlapping point sets. Based on the trimmed iterative closest point algorithm, they introduce a growth operator into the GA. The growth operator, which is also inspired by the biological evolution, can improve the GA efficiency for registration. Furthermore, they present a technique called centre alignment to confirm the value range of all the registration parameters, which can reduce the search space and allow the welldesigned GA to directly solve the registration problem. Experimental results carried out with the m-dimensional point sets illustrate its advantages over previous approaches.