计量学报2025，Vol.46Issue(9)：1348-1355,8.DOI:10.3969/j.issn.1000-1158.2025.09.15
基于Harris特征与NDT-ICP算法的接触网腕臂建模
Catenary Wrist Arm Modeling Based on Harris Features and NDT-ICP Algorithm
摘要
Abstract
To address the problem of strict initial pose requirements and low accuracy in traditional NDT-ICP algorithms,a novel registration algorithm combining Harris features and NDT-ICP is proposed.This method utilizes the scale and rotation invariance of Harris feature points to optimize the point cloud data structure and accelerate registration speed.Moreover,calculating the distance information between key points and establishing the corresponding relationship of key point pairs based on positional similarity further improves the registration accuracy.Experimental results show that compared with the traditional NDT-ICP algorithm,the proposed method improves registration accuracy by nearly 99.98%and registration efficiency by nearly 53.79%.关键词
几何量计量/接触网腕臂/三维建模/Harris特征/NDT-ICP算法/点云配准Key words
geometric measurement/catenary wrist arm/3D modeling/Harris feature/NDT-ICP alignment/point cloud registration分类
信息技术与安全科学引用本文复制引用
张志春,王志坤,陈祎琳,韦民洋..基于Harris特征与NDT-ICP算法的接触网腕臂建模[J].计量学报,2025,46(9):1348-1355,8.基金项目
国家自然科学基金面上项目(62173279) （62173279）
四川省科技厅中央引导地方项目(2024ZYD0018) （2024ZYD0018）
