液晶与显示2024，Vol.39Issue(7)：961-970,10.DOI:10.37188/CJLCD.2023-0221
基于可靠最优传输的点云配准方法
Point cloud registration method based on reliable optimal transport
摘要
Abstract
For some existing registration methods still suffer from poor accuracy and low efficiency in low overlap conditions,a registration method based on reliable optimal transport is proposed.Firstly,the key points and their feature information are used to form point pairs.The sample consensus algorithm is adopted to reject the wrong point pairs and complete the coarse registration.The initial reliable points are identified while optimizing original position.Secondly,in the process of solving the optimal transport for fine registration,the reliable points involved in the transmission are dynamically adjusted according to the iteration of transport plan and update strategy,which guarantees efficiency and reliability of the registration.To verify the effectiveness of the proposed method,some models in the Stanford standard graphics library and 3DMatch dataset are selected as registration objects,and the proposed method is compared with three common types of registration methods.Experiments results prove that the proposed method improves the accuracy by more than 30%and reduces the running time by more than 25%,which can still maintain excellent registration results in the case of several types of models and various missing conditions.关键词
点云配准/低重叠率/可靠点/最优传输Key words
point cloud registration/low overlap/reliable points/optimal transport分类
信息技术与安全科学引用本文复制引用
赵云涛,黄杰,李维刚..基于可靠最优传输的点云配准方法[J].液晶与显示,2024,39(7):961-970,10.基金项目
国家自然科学基金(No.51774219) （No.51774219）
湖北省教育厅科学技术研究项目(No.B2020012)Supported by National Natural Science Foundation of China(No.51774219) （No.B2020012）
Science and Technology Research Project of Hubei Provincial Education Department(No.B2020012) （No.B2020012）
