燕山大学学报2016，Vol.40Issue(6)：524-531,8.DOI:10.3969/j.issn.1007-791X.2016.06.008
三维点云配准算法的研究
Research on registration algorithm of three-dimensional point cloud
摘要
Abstract
Aimed at the problem that the accuracy of the existing registration algorithm is low and its application range is limited we present an initial registration method based on geometrical features and RANSAC algorithm a precise registration method based on the geometric features of local neighborhood and the iterative thought. The initial registration algorithm extracts key points of two point clouds based on the curvature value of local neighborhood. The process of registration is based on RANSAC algorithm with each sample uses FPFH to search corresponding points and improves the accuracy of the correspondence relation according to the invariant constraints in rigid transformation. After multiple samples this algorithm chooses the optimal transformation relying on the degree of consistency of two point clouds. The precise registration algorithm search initial corresponding points according to geomet⁃ric features and the nearest point search method and combines 5-dimensional description and invariant constraints in the rigid transformation to remove the wrong points in correspondence relation which can improve the accuracy of correspondence relation of two point clouds and speed the rate of convergence.关键词
粗配准/几何特征/精配准/刚体变换Key words
initial registration/geometric features/precise registration/rigid transformation分类
信息技术与安全科学引用本文复制引用
王新,刘永山,朱代春,刘新,张小潮..三维点云配准算法的研究[J].燕山大学学报,2016,40(6):524-531,8.基金项目
国家自然科学基金资助项目 （）
