中国光学（中英文）2025，Vol.18Issue(3)：487-498,12.DOI:10.37188/CO.2024-0208
面向点云配准的RANSAC假设评估度量方法研究
Improved RANSAC hypothesis evaluation metrics for point cloud registration
摘要
Abstract
This paper proposes a novel metric that integrates confidence scores of correspondences,obtained through a Triangle Voting(TV)method,with correspondence-based metrics.The proposed metric assumes that a good hypothesis aligns correspondences with high-confidence scores very closely,thereby yielding higher score contributions.We further introduce two enhancement to improve the effectiveness of inlier-based metrics with confidence scores:(1)ignoring the distance of inliers with minor transformation errors,and(2)suppressing the erroneous high-score contributions caused by numerous low-confidence correspond-ences.Comparative experiments conducted on three datasets demonstrate the superiority of the proposed metric over all previously known correspondence-based metrics.The proposed metric achieves registration performance enhancements ranging from 1％to 16.95％and time savings ranging from 1.67％to 10.79％un-der default parameter settings.Moreover,it strikes a better balance among time consumption,robustness,and registration performance.Specifically,the improved inlier count metric exhibits highly robust and accurate performance.In conclusion,the proposed metric can accurately identify the more correct hypothesis during the hypothesis evaluation stage of RANSAC,thereby enabling precise point cloud registration.关键词
计算机视觉/点云配准/RANSAC/假设评估Key words
computer vision/point cloud registration/RANSAC/hypothesis evaluation分类
信息技术与安全科学引用本文复制引用
余四豪,盖绍彦,达飞鹏..面向点云配准的RANSAC假设评估度量方法研究[J].中国光学（中英文）,2025,18(3):487-498,12.基金项目
江苏省重大科技专项(No.BG2024003) （No.BG2024003）
江苏省前沿引领技术基础研究专项项目(No.BK20192004C) （No.BK20192004C）
江苏省高校优秀学科建设工程资助课题Supported by Major Science and Technology Project of Jiangsu Province(No.BG2024003) （No.BG2024003）
the Special Project on Basic Research of Frontier Leading Technology of Jiangsu Province of China(No.BK20192004C) （No.BK20192004C）
Priority Academic Program Development of Jiangsu Higher Education Institution （）
