| 基于几何特征的点云配准算法 |
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| 引用本文： | 王蕊,李俊山,刘玲霞,罗蓉. 基于几何特征的点云配准算法[J]. 华东理工大学学报(自然科学版), 2009, 35(5) |
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| 作者姓名： | 王蕊 李俊山 刘玲霞 罗蓉 |
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| 作者单位： | 第二炮兵工程学院101教研室,西安,710025;二炮装备部计量站,北京,100085 |
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| 基金项目： | 国家自然科学基金项目(60772151);;总参装备维修资助项目 |
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| 摘 要： | 为了有效地解决不存在明确对应关系的点云配准问题,提出了一种基于点云几何特征的配准算法.首先以点云的曲率为联系特征,搜索配准点云的匹配对集合;然后利用邻域特征对各匹配对进行相似性度量,提取有效配准对,并引入刚体变换中向量几何性质剔除其错配对,生成点云初变换;最后采用ICP算法对点云初配结果进行优化,实现点云精确配准.仿真实验结果表明:该算法具有较高的配准精度,且配准时间较短,是一种可行的点云配准算法.
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| 关 键 词： | 点云 曲率 配准 刚体变换 |
Registration of Point Clouds Based on Geometric Properties |
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| WANG Rui,LI Jun-shan,LIU Ling-xia,LUO Rong. Registration of Point Clouds Based on Geometric Properties[J]. Journal of East China University of Science and Technology, 2009, 35(5) |
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| Authors: | WANG Rui LI Jun-shan LIU Ling-xia LUO Rong |
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| Affiliation: | WANG Rui~1,LI Jun-shan~1,LIU Ling-xia~2,LUO Rong~1 |
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| Abstract: | Aiming at the problem of point clouds registration without prior information on transformation,a novel registration algorithm is proposed based on geometric properties of point clouds.Firstly,all the pair-wise points are searched by taking the curvature of point clouds as the registration relationship.Secondly,by using Euclid distance to match the pair-wise points,and by introducing the geometric properties of vectors of rigid body transformation to eliminate the mismatch points,this algorithm can obtain th... |
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| Keywords: | point cloud curvature registration rigid body transformation |
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