空间点集配准算法研究

研究不同坐标系下空间点集的配准算法.所提出的算法分为粗配准和精配准两个阶段.粗配准是利用主成分分析方法对每个点集计算其3个主轴.然后通过空间变换将两个点集的主轴一一对应，使得两个点集大致对齐.精配准利用改进后的最近点迭代方法对两个点集进行局部优化，最终达到初始方向相差较大的两组点集在同一坐标系下的精确配准.模型实验验证了该方法的有效性和精度.实验结果表明，算法通过粗配准有效地将两组点集的主轴对齐，同时，精配准对粗配准的结果进一步优化，使得初始方向相差较大的点集间实现精确配准，提高了配准的精度.

Study on the Registration Algorithm of Spatial Point Sets

A registration algorithm for the spatial point sets in different coordinate frames was presented. Two steps, the coarse and fine registrations, were designed in the method. In the coarse registration step, the principle component analysis was used to estimate the three main axes for each point set. A space transformation was obtained by aligning the axes of the two point sets. Then the two point sets were roughly registered based on the space transformation. In the fine registration step, an improved iterative method for closest points was used to further optimize the registration locally, and to realize an accurate registration for two spatial point sets located in different initial directions. A phantom experiment was carried out to validate the proposed method. Results show that this method can align the main axes effectively in the coarse registration, and further optimize the results obtained from coarse registration in the fine registration. An accurate registration can be achieved between two point sets in different initial directions. The proposed method can improve the registration accuracy.