Junction-Based Correspondence Estimation of Plant Point Cloud Data Using Subgraph Matching

Laser scanner-captured 3-D point cloud data analysis is becoming more commonly used for remote sensing and plant science applications. Because of nonrigidity and complexity, reconstructing a 3-D model of a plant is extremely challenging. Existing algorithms often fail to find correct correspondences for plantlike thin structures. We address the problem of finding 3-D junction points in plant point cloud data as a first step of this correspondence matching process. Temporarily, we transform the 3-D problem into 2-D by performing appropriate coordinate transformations to the neighborhood of each 3-D point. Our proposed method has two steps. First, a statistical dip test of multimodality is performed to detect the nonlinearity of the local 2D structure. Then, each branch is approximated by sequential random-sample-consensus line fitting and a Euclidean clustering technique. The straight line parameters of each branch are extracted using total-least-squares estimation. Finally, the straight line equations are solved to determine if they intersect in the local neighborhood. Such junction points are good candidates for subsequent correspondence algorithms. Using these detected junction points, we formulate a correspondence algorithm as a subgraph matching problem and show that, without using traditional descriptor similarity-based matching, good correspondences can be obtained by simply considering geodesic distances among graph nodes. Experiments on synthetic and real ( Arabidopsis plant) data show that the proposed method outperforms the state of the art.