天津工业大学学报Issue(1)：45-49,5.
同一物体不同视角的点云配准方法
Points registration of same objects with different view
摘要
Abstract
Two point clouds in two different perspectives is managed by the method of surface and then the ICP algorithm is adopted based on curvature characteristic to improve the registration process. The surface method for processing the acquired point clouds from two different perspectives is used firstly. Then the curvature of two point clouds based on the surface method is calculated,and classify one of two point clouds by the curvature size and sample randomly from different classes. According to the result of random sample, to find the corresponding points which is in another point cloud in accordance with the principle of the curvature first, distance second. At last, calculate rotation matrix and translation matrix of the first point cloud to complete the registration process. Experimental results show that under the condition of the same mass point cloud, surface table generation time is less than the octree generation time on average 406 ms while the finding time is less than average 107 ms. What′s more, the ICP algorithm for curvature features based on curvature features achieves the precision of 0.241 625 mm. It can be basically satisfied the requirements of the multi-view point cloud of high registration precision , fast computing speed, etc.关键词
物体/视觉/点云配准/ICP算法/点云管理Key words
object/view/points′registration/ICP algorithm/points′management分类
信息技术与安全科学引用本文复制引用
陈卓,宋丽梅,陈昌曼,唐欢..同一物体不同视角的点云配准方法[J].天津工业大学学报,2014,(1):45-49,5.基金项目
国家自然科学基金（60808020，61078041）；天津市应用基础及前沿技术研究计划 （）
