光学精密工程2024，Vol.32Issue(10)：1606-1621,16.DOI:10.37188/OPE.20243210.1606
基于自适应局部邻域条件下的点云匹配
Point cloud matching algorithm based on adaptive local neighborhood conditions
摘要
Abstract
To address the issues faced by traditional Iterative Closest Point(ICP)algorithms in handling complex point cloud spatial features,such as noise interference and data loss leading to slow convergence,low registration accuracy,and pool robustness,this paper proposed a point cloud matching algorithm based on adaptive local neighborhood conditions.Initially,voxel grid filtering was used for data prepro-cessing,and the curvature of neighborhood surfaces was defined based on the distribution of nearby points within different radii.Considering the distribution of normal vectors and neighborhood curvature features,more accurate feature points were extracted.Subsequently,the most significantly changing curvature fea-ture points in the neighborhood were further extracted using the least squares surface fitting method.These points were described using the Fast Point Feature Histograms(FPFH),and similar feature point pairs were matched using a sample consensus algorithm with a set distance threshold.This calculated the key coordinate transformation parameters to complete the initial registration.Finally,a linear least squares optimization point-to-plane ICP algorithm was used to achieve more accurate registration results.Compar-ative experiments demonstrate that,under conditions of noise interference and data loss,the proposed method improves registration accuracy by an average of 45%and increases registration speed by 38%,compared to existing algorithms(ICP,SAC-IA+ICPK4PCS+lCP),thus confirming its excellent ro-bustness in handling large-volume,low-overlap point cloud registrations.关键词
点云匹配/邻域/法向量/快速点特征直方图/迭代最近点Key words
point cloud matching/neighborhood/normal vector/fast point feature histogram/iterative closest point分类
天文与地球科学引用本文复制引用
李晋儒,王晋,郭松涛,索红燕..基于自适应局部邻域条件下的点云匹配[J].光学精密工程,2024,32(10):1606-1621,16.基金项目
国家自然科学基金(No.41876105) （No.41876105）
