西安电子科技大学学报（自然科学版）2017，Vol.44Issue(5)：69-74,6.DOI:10.3969/j.issn.1001-2400.2017.05.012
点云配准中初始变换的快速优化求解算法
Optimized initial aligning algorithm for point cloud registration
摘要
Abstract
This paper deals with the initial aligning problem of pairwise point cloud registration.A novel Distance Disparity Matrix algorithm derived from Euclidean invariants of rigid motion is proposed to prune the obvious outlier matches while keeping the most inliers.The pruned matches are then sent into a Least-Squares Backward procedure to estimate optimized rigid transformation in fewer iterations.The employed thresholds are automatically determined with respect to the actual resolution of input point clouds. Experimental results show that the proposed strategy effectively eliminates the outliers to achieve better initial alignment at a high speed,and further enhances the performance of point cloud registration.关键词
点云配准/刚体变换/距离差分矩阵/特征匹配/最小二乘后向方法/点云分辨率Key words
point cloud registration/rigid transformation/distance disparity matrix/feature matches/least-sqaures backward search/point cloud resolution分类
信息技术与安全科学引用本文复制引用
罗楠,王泉..点云配准中初始变换的快速优化求解算法[J].西安电子科技大学学报（自然科学版）,2017,44(5):69-74,6.基金项目
国家自然科学基金资助项目(61572385) （61572385）
陕西省科技计划资助项目(2015KTCXSF-01) （2015KTCXSF-01）
