{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,19]],"date-time":"2026-09-19T17:02:25Z","timestamp":1789837345599,"version":"4.0.1"},"reference-count":22,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2025,1,22]],"date-time":"2025-01-22T00:00:00Z","timestamp":1737504000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Key Scientific Research Plan of Education Department of Shaanxi","award":["23JY035"],"award-info":[{"award-number":["23JY035"]}]},{"name":"Key Scientific Research Plan of Education Department of Shaanxi","award":["K20220184"],"award-info":[{"award-number":["K20220184"]}]},{"name":"Key Scientific Research Plan of Education Department of Shaanxi","award":["2023-YBGY-369"],"award-info":[{"award-number":["2023-YBGY-369"]}]},{"name":"The Youth Innovation Team of Shaanxi Universities","award":["23JY035"],"award-info":[{"award-number":["23JY035"]}]},{"name":"The Youth Innovation Team of Shaanxi Universities","award":["K20220184"],"award-info":[{"award-number":["K20220184"]}]},{"name":"The Youth Innovation Team of Shaanxi Universities","award":["2023-YBGY-369"],"award-info":[{"award-number":["2023-YBGY-369"]}]},{"name":"The Science and Technology fund project of Shaanxi Provincial Department","award":["23JY035"],"award-info":[{"award-number":["23JY035"]}]},{"name":"The Science and Technology fund project of Shaanxi Provincial Department","award":["K20220184"],"award-info":[{"award-number":["K20220184"]}]},{"name":"The Science and Technology fund project of Shaanxi Provincial Department","award":["2023-YBGY-369"],"award-info":[{"award-number":["2023-YBGY-369"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In response to the issues of slow convergence and the tendency to fall into local optima in traditional iterative closest point (ICP) point cloud registration algorithms, this study presents a fast registration algorithm for laser point clouds based on 3D scale-invariant feature transform (3D-SIFT) feature extraction. First, feature points are preliminarily extracted using a normal vector threshold; then, more high-quality feature points are extracted using the 3D-SIFT algorithm, effectively reducing the number of point cloud registrations. Based on the extracted feature points, a coarse registration of the point cloud is performed using the fast point feature histogram (FPFH) descriptor combined with the sample consensus initial alignment (SAC-IA) algorithm, followed by fine registration using the point-to-plane ICP algorithm with a symmetric target function. The experimental results show that this algorithm significantly improved the registration efficiency. Compared with the traditional SAC\u2212IA+ICP algorithm, the registration accuracy of this algorithm increased by 29.55% in experiments on a public dataset, and the registration time was reduced by 81.01%. In experiments on actual collected data, the registration accuracy increased by 41.72%, and the registration time was reduced by 67.65%. The algorithm presented in this paper maintains a high registration accuracy while greatly reducing the registration speed.<\/jats:p>","DOI":"10.3390\/s25030628","type":"journal-article","created":{"date-parts":[[2025,1,22]],"date-time":"2025-01-22T05:50:53Z","timestamp":1737525053000},"page":"628","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Fast Registration Algorithm for Laser Point Cloud Based on 3D-SIFT Features"],"prefix":"10.3390","volume":"25","author":[{"given":"Lihong","family":"Yang","sequence":"first","affiliation":[{"name":"School of Photoelectric Engineering, Xi\u2019an Technological University, Xi\u2019an 710021, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shunqin","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Photoelectric Engineering, Xi\u2019an Technological University, Xi\u2019an 710021, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhiqiang","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Photoelectric Engineering, Xi\u2019an Technological University, Xi\u2019an 710021, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jia","family":"He","sequence":"additional","affiliation":[{"name":"95841Military Unit or Troop, Jiuquan 735000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lei","family":"Gong","sequence":"additional","affiliation":[{"name":"School of Photoelectric Engineering, Xi\u2019an Technological University, Xi\u2019an 710021, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wanjun","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Photoelectric Engineering, Xi\u2019an Technological University, Xi\u2019an 710021, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yao","family":"Li","sequence":"additional","affiliation":[{"name":"School of Photoelectric Engineering, Xi\u2019an Technological University, Xi\u2019an 710021, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Liguo","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Photoelectric Engineering, Xi\u2019an Technological University, Xi\u2019an 710021, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhili","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Photoelectric Engineering, Xi\u2019an Technological University, Xi\u2019an 710021, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,1,22]]},"reference":[{"key":"ref_1","first-page":"169","article-title":"Identification method for machine workpiece based on laser 3D point cloud","volume":"48","author":"Xue","year":"2019","journal-title":"Infrared Laser Eng."},{"key":"ref_2","first-page":"114","article-title":"A Comprehensive Review on the Development and Current Status of 3D Reconstruction Technology","volume":"18","author":"Xiong","year":"2022","journal-title":"Comput. 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