舰船电子工程2026，Vol.46Issue(6)：45-48,93,5.DOI:10.3969/j.issn.1672-9730.2026.06.007
基于改进ICP的建筑物点云配准算法
Building Point Cloud Registration Method Based on Improved ICP
摘要
Abstract
To solve the problems of large errors and slow speed in point cloud registration,this paper proposes an improved ICP point cloud registration method based on the fusion of normal vector constraints and Euclidean error.Firstly,based on the use of the Internal Shape Feature(ISS)algorithm to extract key-points,the Binary Directional Histogram(BSHOT)is adopted to quickly and efficiently match the binary feature descriptors of key-points,in order to improve the efficiency of point cloud registration.Sec-ondly,it uses dual quaternions to solve the rotation matrix and translation vector to achieve rough registration of point clouds.Final-ly,the ICP algorithm with normal vector constraints is used to achieve overall registration of point clouds.The experimental results show that using open-source point cloud clusters as the dataset,the method improves the registration efficiency by 33.38%and the registration accuracy by 18.32%compared to the SAC-IA+ICP algorithm in building point cloud scenarios.Compared with other point cloud registration methods,the method provides a new approach for high-precision 3D reconstruction of buildings.关键词
建筑物点云配准/对偶四元数/二进制方向直方图/迭代最近点Key words
building point cloud registration/dual quaternions/binary directional histogram/iteration closest point分类
信息技术与安全科学引用本文复制引用
王春萍,张银环..基于改进ICP的建筑物点云配准算法[J].舰船电子工程,2026,46(6):45-48,93,5.基金项目
陕西省教育厅科学规划项目(编号:SGH23Y3178) （编号:SGH23Y3178）
智能建造与人工智能青年科技创新团队(编号:WZYQNKJTD202309) （编号:WZYQNKJTD202309）
渭南市重点研发计划项目(编号:2024ZDYFJH-080)资助. （编号:2024ZDYFJH-080）
