几何特征在点云配准中的应用  

Application of geometric features in point cloud registration

作　　者：李兴南[1] 吴维勇[1] 魏启明[1] 

机构地区：[1]九江学院信息科学与技术学院,江西九江332005

出　　处：《计算机工程与应用》2010年第32期185-187,共3页Computer Engineering and Applications

基　　金：国家自然科学基金(No.60863012);江西省自然科学基金(No.0611063);江西省教育厅科技项目(No.GJJ08435;No.GJJ09346)~~

摘　　要：提出一种基于几何特征的三维数据配准算法。该算法针对点云中各点pi的k邻近点Nbhd(pi)构造三棱锥体,将三棱锥体各侧棱pivj(j=1,2,…,和其中轴线pio的夹角记作θji,所有夹角按照右手系来依次形成夹角序列(θ1iθ2i…)作为三棱锥的几何特征。通过比较三棱锥体的几何特征来确定有效点对。算法实现时,首先对初始数据通过抽取有效点对,建立名义上的对应关系,然后采用四元组法求得坐标变换的旋转和平移矩阵,实现数据配准。This paper proposes a 3D measured data registration algorithm.In the algorithm firstly,a triangular pyramid is constructed to each neighborhood.And then it computes the angle of the side edges and the middle axis of the triangular pyramid and constructs the geometric features based on those angles of the triangular pyramid.Thirdly the effective correspondent point pairs are extracted from the geometric features.Lastly the rotation and translation matrix are deduced by quaternion method.Experimental results show the accurate and robust performance of the proposed algorithm.

关 键 词：三维测量数据 配准 几何特征 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]