├── JPRLC.m ├── README.md ├── main.m ├── blade1.txt ├── blade2.txt ├── blade3.txt └── blade4.txt /JPRLC.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sulingjie/JPRLC_registration/HEAD/JPRLC.m -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | Demo of 'A Robust Probability-based Joint Registration Method of Multiple Point Clouds Considering Local Consistency Property'. Submitted to ICRA 2025. 2 | Email: ljsu@hust.edu.cn 3 | -------------------------------------------------------------------------------- /main.m: -------------------------------------------------------------------------------- 1 | clc; clear; close all; 2 | %---------------- load data ---------------------% 3 | N = 4; % number of point clouds 4 | X = arrayfun(@(j) dlmread(sprintf('./blade%d.txt',j),' ')',[1:N]','uniformoutput',false); 5 | 6 | %---------------- registration -------------------% 7 | % % initialization 8 | M = 1000; % number of GMM components 9 | 10 | % initialization of centroids of GMM 11 | az = 2*pi*rand(1,M); 12 | el = 2*pi*rand(1,M); 13 | %points on a unit sphere 14 | Y0 = [cos(az).*cos(el); sin(el) ; sin(az).*cos(el) ]; 15 | Y0 = 50 * Y0 + mean(X{1},2); 16 | 17 | sigma0 = repmat(1000,M,1); % variances of G 18 | R0 = repmat({eye(3)}, N, 1); % initial rotation matrix 19 | t0 = cellfun(@(X) -mean(X,2)+mean(Y0,2),X,'UniformOutput',false); % initial translation vector 20 | IterNum = 100; % iteration number 21 | lambda = 0.1; % weight of local consistency term 22 | [TX, R_result, t_result, Y] = JPRLC(X,Y0,sigma0,R0,t0,IterNum,lambda,0.1); 23 | %--------------- show results -------------------% 24 | 25 | 26 | figure; hold on; 27 | scatter3(Y(1,:),Y(2,:),Y(3,:),'k'); 28 | hold off; 29 | 30 | 31 | figure; hold on; 32 | cellfun(@(X) scatter3(X(1,:),X(2,:),X(3,:)), TX, 'UniformOutput', false); 33 | hold off; 34 | -------------------------------------------------------------------------------- /blade1.txt: -------------------------------------------------------------------------------- 1 | -30.638030 35.339075 42.103013 2 | 53.082674 42.605706 29.551769 3 | 97.901338 36.147010 31.019430 4 | -22.407753 16.358711 29.765290 5 | 77.716458 43.971017 77.693606 6 | 34.315951 38.186074 -13.122105 7 | 45.026626 36.795936 48.888322 8 | -32.981420 56.538161 62.220573 9 | 36.353133 18.244243 85.176780 10 | -10.976560 -4.260586 26.910691 11 | 14.944270 39.977308 22.934437 12 | 37.627692 49.092233 8.055763 13 | -24.172542 38.506957 50.962937 14 | 116.358384 23.442776 78.858144 15 | -2.180760 54.397171 -16.109781 16 | -9.089019 67.608044 46.794094 17 | 64.089344 43.149298 23.383272 18 | -25.904211 30.913433 -3.119410 19 | 123.212862 25.544292 60.169811 20 | 7.240222 52.938455 33.345802 21 | 80.756483 26.297074 98.046299 22 | 31.080320 100.165188 -13.030304 23 | 124.353120 20.927959 73.574778 24 | 13.667515 92.380392 -18.351866 25 | -20.946839 11.358670 15.717391 26 | 34.959326 33.063411 88.831798 27 | 15.880164 16.588904 -1.792052 28 | -24.882333 44.927952 53.408011 29 | 88.632049 31.744358 62.922735 30 | 6.063416 41.883010 -26.592455 31 | 46.989201 75.905594 -21.050812 32 | 103.444834 18.280619 152.109611 33 | -1.869741 22.944702 30.646187 34 | 3.181401 52.683718 34.257899 35 | 7.418080 55.528548 -23.782215 36 | -26.227142 61.730917 36.045723 37 | 95.192604 43.012757 30.027835 38 | -32.167789 49.561453 7.483458 39 | 55.890968 38.790239 -26.649465 40 | 122.648480 29.724812 64.945228 41 | 95.271866 34.059119 38.707994 42 | 22.066186 86.040626 11.069128 43 | -30.105665 71.398923 14.570072 44 | 157.525362 10.042887 102.676580 45 | 47.800026 109.939418 -1.262839 46 | 3.619241 17.878870 21.848302 47 | 14.659052 85.668229 31.212095 48 | 62.696692 50.433362 -0.551434 49 | 63.205826 71.658032 -20.404353 50 | 12.931839 32.018662 37.390339 51 | 7.610280 34.320139 25.660883 52 | 91.698360 16.161333 145.188113 53 | 66.421480 55.700793 -7.325070 54 | 45.256759 37.226883 -20.597681 55 | -40.054700 52.339958 14.857969 56 | 67.851966 58.923461 -19.830416 57 | 62.974803 54.806757 -16.406157 58 | 74.598596 16.327766 155.063278 59 | 45.721167 69.680731 -28.343752 60 | -9.488338 14.457945 37.402488 61 | 49.834013 62.007597 0.327877 62 | 57.306556 98.028487 0.246074 63 | 57.929351 51.295810 44.956349 64 | -14.097121 19.549606 40.202629 65 | 76.430630 46.757596 52.124924 66 | -5.348498 14.172656 28.331877 67 | 83.689127 45.641598 45.673579 68 | 90.829978 43.406816 44.466520 69 | -24.543772 54.506446 55.890949 70 | 17.821907 64.006707 23.377681 71 | -27.528751 68.322250 9.033368 72 | -8.865140 12.556247 31.369560 73 | -24.718818 42.657358 -0.717059 74 | 67.815579 28.702292 84.616856 75 | 64.679462 28.738750 83.392278 76 | 47.326858 51.079569 -1.828431 77 | 62.419947 54.091811 -10.468713 78 | 61.769773 53.391199 -9.501266 79 | 70.432459 12.702156 132.510950 80 | 35.626461 46.643465 4.048336 81 | -14.621867 22.511154 40.416376 82 | 68.905600 47.577555 -23.983726 83 | 76.210457 9.621191 161.294278 84 | 49.913709 33.689294 -19.330482 85 | 34.404561 60.017186 15.858090 86 | 64.520617 61.992064 -16.120556 87 | -9.272945 18.503318 4.856902 88 | 100.283601 24.520552 105.371638 89 | 78.819824 38.845169 32.601479 90 | 60.041794 63.076824 -10.326971 91 | -9.844601 53.067373 -10.107127 92 | 111.874997 34.226176 141.920995 93 | 118.614726 33.362324 135.892859 94 | 58.540567 46.585323 -28.965972 95 | 63.834388 45.745480 14.342039 96 | 14.730372 32.243264 68.079794 97 | 31.933390 47.340837 12.440284 98 | -25.106847 4.173034 28.682903 99 | 33.108335 46.355438 62.872577 100 | 36.489798 27.353063 -13.238650 101 | 127.928371 18.819676 94.067129 102 | 23.754410 32.073303 78.233575 103 | 95.892350 35.847689 131.097360 104 | 100.359810 39.745236 46.100383 105 | -36.118454 58.832659 34.408267 106 | 133.102812 22.155983 71.936144 107 | 37.144113 48.575302 10.554783 108 | 74.436127 12.141301 159.007322 109 | -21.675659 67.828059 4.013131 110 | 35.719049 86.894366 -28.439484 111 | 74.837218 15.153193 131.947911 112 | 108.056817 35.670996 100.989027 113 | 124.520586 25.612522 61.521751 114 | 123.213994 25.200717 60.358966 115 | 15.953468 61.860648 24.781209 116 | 64.865748 52.897084 -19.081566 117 | 77.701420 23.627736 108.804808 118 | 137.102586 17.298372 78.782347 119 | 59.724574 52.979701 -10.286765 120 | -14.135948 27.401312 40.768283 121 | -10.439649 19.717809 42.652284 122 | 24.064094 41.859411 11.875279 123 | 53.924077 52.412667 -5.075755 124 | -5.566118 14.135565 28.523422 125 | 52.856236 58.976757 9.418861 126 | 63.671999 46.904296 69.465598 127 | 62.990240 59.449108 -10.644950 128 | 20.399721 53.174618 -35.279770 129 | 16.064038 63.040535 -28.818656 130 | -36.730302 49.824349 30.782922 131 | 74.215853 14.830912 132.025960 132 | 0.522809 50.534502 35.831430 133 | 16.100855 26.553328 49.473865 134 | 117.135056 32.192789 77.364935 135 | 55.136334 38.023389 -15.267388 136 | -36.132058 19.980981 2.247868 137 | 156.076717 7.576422 105.159673 138 | 55.230536 23.401571 93.424468 139 | 112.792650 33.991899 83.257089 140 | 109.824391 29.218780 149.950888 141 | 74.214443 52.495914 13.241277 142 | 45.964300 50.517671 -1.674978 143 | -20.761431 45.830590 -3.098848 144 | 96.890647 37.618694 117.669807 145 | 98.977296 37.121204 120.892121 146 | -27.728678 51.292485 4.283904 147 | 59.138221 46.945403 70.748254 148 | -30.876656 15.757155 9.564261 149 | 60.173801 50.343614 -15.820570 150 | 61.655852 65.933990 -12.581439 151 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1.224406 179 | -9.104146 37.451370 40.342696 180 | 157.126492 13.981326 103.641647 181 | -13.944542 46.672171 -8.536645 182 | 47.199636 40.397808 86.722583 183 | -31.310786 32.834546 1.940646 184 | 2.474723 87.396495 -1.466443 185 | -17.529048 3.189167 21.897983 186 | 65.948689 42.444700 25.118154 187 | 22.145947 58.592158 23.943710 188 | 27.024405 45.129890 17.932451 189 | -25.034470 8.688759 29.740096 190 | -2.611239 73.908740 -10.118544 191 | 26.616454 45.384394 16.563169 192 | -9.227568 19.348086 44.407228 193 | 85.388106 20.656085 124.853646 194 | 60.619946 25.097665 127.252650 195 | 63.607814 58.702897 -15.387695 196 | 62.346812 60.921949 -11.938715 197 | 19.302628 36.665937 14.202171 198 | 113.446245 33.756451 83.716807 199 | 47.047078 52.002321 48.307300 200 | -30.646477 23.411179 17.034184 201 | 90.191649 24.082479 110.427684 202 | 6.561966 54.716047 32.271266 203 | 33.036159 10.794992 99.103130 204 | 39.109555 49.524507 6.737340 205 | 12.629072 38.171507 22.253485 206 | 27.307749 100.847786 -27.274402 207 | -21.210954 23.898145 44.277746 208 | 39.493669 49.499204 57.504444 209 | 7.479014 34.095138 28.109780 210 | 67.765880 34.531136 60.601144 211 | 6.698695 23.015968 43.322425 212 | 8.816854 18.998179 69.672034 213 | 40.082781 87.903376 11.676352 214 | -14.175881 13.750833 36.682437 215 | 79.552243 50.191756 17.033110 216 | 13.870705 15.739641 12.687873 217 | 127.668715 27.583361 78.706190 218 | 17.952118 62.091452 23.380628 219 | 96.327545 24.003646 110.824939 220 | 64.024220 54.480743 -9.302690 221 | 98.033101 23.255744 158.055583 222 | 77.168059 19.305804 123.113546 223 | -16.987332 22.581196 40.834491 224 | 40.302646 46.061484 18.313554 225 | 30.915421 14.481957 101.073510 226 | 21.596010 64.588997 20.465548 227 | 53.883781 65.770416 -5.864384 228 | 32.546023 86.815917 17.643062 229 | 23.225441 17.083120 0.881911 230 | -11.235394 71.415231 47.066274 231 | 43.390656 46.518627 -3.026958 232 | 24.685855 31.599840 -5.079648 233 | 35.661256 83.324157 -31.618065 234 | -41.155225 40.077446 15.704473 235 | 63.032774 56.942450 -13.238383 236 | -21.252183 -0.974122 30.007331 237 | -28.080001 37.087642 52.728058 238 | -10.112529 18.883415 43.171673 239 | -9.238524 14.211470 35.915584 240 | -24.338271 35.527835 50.241046 241 | 6.966187 53.452356 32.959640 242 | 70.166433 53.040704 -26.086521 243 | 69.789927 18.644529 118.433394 244 | 34.654176 97.346152 5.592743 245 | -10.999601 19.871419 41.983568 246 | 57.843728 52.730966 -9.182144 247 | 48.487408 62.421523 0.936944 248 | 85.259562 30.049427 78.052696 249 | 3.400825 46.034690 -23.175142 250 | 48.328072 30.299658 106.437514 251 | 62.142818 47.212068 -18.453581 252 | 44.921211 46.905816 -25.439685 253 | 92.577603 42.936577 43.121262 254 | 44.152877 47.430894 13.989271 255 | 100.927240 39.528227 45.943745 256 | 17.966859 12.396904 78.803442 257 | 6.994656 32.736377 30.432774 258 | 4.187815 23.773120 39.310118 259 | 15.259966 39.838462 24.691674 260 | 45.135463 62.651031 3.503041 261 | 15.815079 38.625137 27.869770 262 | 39.424053 65.778443 6.268912 263 | 33.490719 96.740424 -4.839965 264 | 10.737372 27.278102 -2.869373 265 | 25.172372 42.265765 11.066138 266 | 2.446234 28.908569 29.606153 267 | 121.164479 19.498078 128.473175 268 | 44.298325 73.833777 -26.881373 269 | 120.675950 21.842496 81.584837 270 | 26.383209 97.263275 12.461290 271 | -12.996030 14.625468 37.306397 272 | 63.183523 53.520064 -8.860574 273 | 93.629289 36.323409 127.847847 274 | 8.164222 7.639246 15.104893 275 | 3.290088 73.562802 38.197162 276 | -34.505720 53.653106 57.435593 277 | 22.221782 90.985290 1.155114 278 | 53.495938 42.840623 28.517919 279 | -9.839132 82.709773 1.847210 280 | 40.563811 58.683841 -44.132913 281 | -18.695442 16.973122 40.215737 282 | 2.017110 4.416068 15.874386 283 | 32.351692 46.952513 8.341571 284 | 113.887585 33.575912 64.744324 285 | 82.520549 29.394385 83.052395 286 | -25.300465 34.999663 -2.442939 287 | 33.663813 31.364780 89.672550 288 | 85.176007 30.175982 77.231867 289 | 63.014020 58.134233 0.441109 290 | -36.859576 50.676944 31.327380 291 | 57.555257 21.875900 128.166921 292 | -31.316698 37.760480 28.455712 293 | -6.491087 15.733301 46.500760 294 | 13.255471 38.669980 25.311138 295 | 114.410008 20.061103 135.072036 296 | -34.890822 16.324372 0.157933 297 | -1.958056 20.874935 27.664216 298 | -3.291105 20.650827 31.467717 299 | -2.071120 37.501302 44.605629 300 | 8.709031 35.371671 25.786759 301 | 30.824603 46.758676 10.357412 302 | 32.197754 49.303295 54.854657 303 | 59.143389 8.265140 128.707305 304 | 89.598811 21.437269 123.824442 305 | -16.420710 12.404794 37.040193 306 | 92.275049 33.310815 140.634642 307 | 10.101728 15.583084 15.783493 308 | 9.716614 8.153985 12.170831 309 | 100.474704 37.786308 102.730959 310 | -30.415351 62.442610 32.513482 311 | -2.534384 79.254872 31.360707 312 | 53.939859 39.534125 41.112537 313 | 56.402765 45.671000 76.147401 314 | -14.185697 34.051641 41.515433 315 | 40.728735 61.507787 8.422915 316 | 83.397969 16.847903 135.705495 317 | 43.239305 11.036507 116.129557 318 | 45.516215 45.486619 20.210696 319 | 12.568991 14.461283 74.328720 320 | 13.003817 60.781054 26.921032 321 | -10.850802 16.175971 40.352967 322 | 83.971815 45.773604 43.805454 323 | 45.527389 19.114662 93.655106 324 | 40.359996 22.900572 80.846177 325 | 70.695765 53.249347 -2.404877 326 | 2.266303 83.421650 29.555440 327 | 20.384755 11.747939 78.242770 328 | -40.805126 59.552777 17.565486 329 | 22.563311 18.033451 88.810385 330 | 8.804353 58.338306 29.946110 331 | 96.191794 34.898869 33.217892 332 | 50.500449 58.964809 11.596060 333 | 94.063752 29.925066 152.938811 334 | 61.725313 53.467699 -15.276414 335 | 53.126342 21.296793 123.746641 336 | 93.805340 32.866807 48.446406 337 | 83.293991 48.457946 13.353285 338 | 37.723532 97.026249 16.275940 339 | -5.647283 20.905287 49.039925 340 | 112.690862 23.217026 96.041209 341 | 72.668944 27.819123 135.796853 342 | -16.141852 3.497652 20.831038 343 | -15.619817 21.164803 40.326219 344 | 63.436581 57.419611 -15.492122 345 | 49.814217 46.641347 15.789515 346 | -32.087864 61.286637 34.013129 347 | 110.878321 21.988337 117.105098 348 | 58.989653 52.293646 -11.975152 349 | 102.420110 25.987259 89.612484 350 | 32.206137 93.144696 -28.295908 351 | 61.219359 53.194957 -9.103311 352 | 17.056363 12.692676 78.208932 353 | 10.695798 53.448164 32.951218 354 | 9.160231 81.688869 13.409858 355 | -7.704832 35.075208 41.078704 356 | 32.849200 91.149685 18.641465 357 | 50.636246 75.964304 -0.564716 358 | 29.885196 13.587561 83.806841 359 | 156.117303 12.618519 100.560058 360 | 0.024811 46.603292 37.928371 361 | 63.702751 58.494538 -9.886720 362 | 16.220648 33.121246 68.900578 363 | 107.523533 25.440283 83.512994 364 | 70.500483 30.468312 78.268609 365 | 28.872560 45.337264 10.015778 366 | 73.869863 45.907627 64.958672 367 | 48.257396 87.015020 -9.527474 368 | 2.406184 28.525357 30.902318 369 | 60.402909 51.725682 -15.090044 370 | 34.270815 50.990350 -39.018607 371 | 32.387283 41.201704 -20.180201 372 | 136.619290 25.357635 126.507189 373 | -11.737085 -1.661009 21.277396 374 | 66.406390 71.061493 -15.121822 375 | 39.491652 26.537608 72.392049 376 | 39.233253 69.018774 -38.648895 377 | 21.381471 43.258748 19.898983 378 | 2.376652 28.831210 28.619900 379 | -8.671519 14.402662 37.468761 380 | 28.468350 92.830878 9.444151 381 | 49.167001 79.419098 -14.741328 382 | 32.332897 34.909925 2.836697 383 | -11.479399 11.767876 33.236929 384 | -16.916230 70.819763 0.910571 385 | 52.637125 21.639407 122.758282 386 | 59.543770 49.577311 55.192254 387 | 41.551215 60.946610 9.041911 388 | -13.109622 22.428645 -4.993447 389 | 144.352470 12.167412 111.223399 390 | -9.353061 32.392114 41.099704 391 | 81.819242 8.254575 167.236668 392 | -15.238897 10.607543 35.469064 393 | 43.291557 46.494976 -2.951204 394 | -20.771076 14.738398 27.933649 395 | 56.767743 60.015611 -0.654571 396 | 12.509448 12.745287 64.893630 397 | 53.051247 56.524392 20.986647 398 | 130.054815 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