湖南大学学报（自然科学版）2025，Vol.52Issue(4)：34-43,10.DOI:10.16339/j.cnki.hdxbzkb.2025264
基于显著性峰值与特征对齐的点云配准模型
Point Cloud Registration Model Based on Significance Peak and Feature Alignment
摘要
Abstract
The core of point cloud registration is to estimate the transformation matrix.There is partial overlap,high noise,and density difference between two point cloud pairs.The existing methods cannot accurately solve the problem of feature alignment between significant point cloud correspondences.Therefore,a significance peak and feature alignment network(SPFANet)is proposed to achieve point cloud registration from coarse to fine one.SPFANet consists of three parts:multi-significance peak detector,coarse registration,and fine registration.Firstly,the multi-significance peak detector introduces a re-weighted peak loss method based on descriptor variance and overlap score to remove non discriminatory and non overlapping key point clouds.Secondly,the coarse registration stage detects the complementary key point sets to compute the coarse registration scheme.Finally,the fine registration stage introduces a feature metric framework with a forward-backward transform to refine the coarse registration scheme and achieve efficient point cloud registration.The effectiveness of SPFANet is validated through experiments on the same source 3DMatch dataset and cross-source 3DCSR dataset.关键词
点云配准/跨源点云/多显著性峰值检测/特征度量/重加权峰值损失Key words
point cloud registration/cross-source point cloud/multi-significance peak detection/feature met-ric/re-weighted peak loss分类
信息技术与安全科学引用本文复制引用
张富凯,张露露,张海燕,张艳梅,袁冠,赵珊,王登科,霍占强,陈玮..基于显著性峰值与特征对齐的点云配准模型[J].湖南大学学报（自然科学版）,2025,52(4):34-43,10.基金项目
国家自然科学基金资助项目(71774159,52174174),National Natural Science Foundation of China(71774159,52174174) （71774159,52174174）
河南省科技攻关项目(252102320210),Henan Province Science and Technology Research(252102320210) （252102320210）
河南省高等学校重点科研项目(24B520014),Key Scientific Research Projects of Colleges and Universities in Henan Province(24B520014) （24B520014）
河南理工大学青年骨干教师资助计划(2023XQG-14),Henan Polytechnic University Youth Backbone Teacher Support Program(2023XQG-14) （2023XQG-14）
