红外与毫米波学报2025，Vol.44Issue(6)：840-855,16.DOI:10.11972/j.issn.1001-9014.2025.06.003
改进球形体素局部形状描述符的跨源点云配准
Cross-source point cloud registration using an improved spherical voxel-based local shape descriptor
摘要
Abstract
To address the registration challenges caused by cross-source point cloud quality disparities,this paper pro-poses an improved spherical voxel local shape descriptor(Spherical Voxel Center Descriptor,SVCD)for cross-source point cloud registration.SVCD effectively mitigates density and distribution variations through dual-weighted Local Reference Frame(LRF)computation and spherical voxel segmentation.Its core innovation lies in feature encoding based on the distance from voxel centers to keypoints,enhancing the distinctiveness and robustness of the descriptor.The registration process establishes correspondences via the nearest neighbor similarity ratio and solves the rigid transfor-mation using the singular value decomposition.Experimental results on the 3DCSR and real-world datasets demonstrate that SVCD achieves a registration error as low as 0.004 8,with recall rates of 82.83%and 83.45%(improving baseline performance by 10.24 and 11.16 percentage points,respectively),and the F1-scores are the highest(0.803 and 0.832).In Gaussian noise experiments,SVCD maintains an average recall rate of 76.54%,significantly outperform-ing comparative methods,validating its strong robustness in complex scenarios.This method provides an effective solu-tion for high-precision cross-source point cloud registration.关键词
跨源点云配准/局部形状描述符/球形体素/体素中心/最近邻相似比Key words
cross-source point cloud registration/local shape descriptor/spherical voxel/voxel center/the nearest neighbor similarity rate分类
信息技术与安全科学引用本文复制引用
李健,李焕涛,吴浩,崔昊..改进球形体素局部形状描述符的跨源点云配准[J].红外与毫米波学报,2025,44(6):840-855,16.基金项目
国家自然科学基金(42241759) （42241759）
国家自然科学基金青年基金(42001405) （42001405）
河南省自然科学基金(242300420212) （242300420212）
中国博士后科学基金(2024M752938) Supported by the National Natural Science Foundation of China(42241759) （2024M752938）
the National Natural Science Foundation of China Youth Fund(42001405) （42001405）
the Natural Science Foundation of Henan Province(CN)(242300420212) （CN）
the China Postdoctoral Science Foundation(2024M752938) （2024M752938）
