基于改进迭代最近点算法的两视角激光雷达数据配准  

Two-Viewing Angle Ladar Data Registration Based on Improved Iterative Closest-Point Algorithm

作　　者：赵明波[1,2] 何峻[1] 罗小波[1] 付强[1] 

机构地区：[1]国防科学技术大学电子科学与工程学院自动目标识别重点实验室 [2]中国人民解放军93246部队

出　　处：《光学学报》2012年第11期297-306,共10页Acta Optica Sinica

摘　　要：两视角激光雷达数据配准是空地探测遮蔽目标研究领域中的一项重要内容,迭代最近点(ICP)算法为其提供了理论基础,但遮蔽条件下激光雷达数据的复杂性使ICP算法在对应点确定上面临很大困难。在分析ICP算法基本原理和遮蔽条件下激光雷达数据特点的基础上,从控制点选择、对应点匹配和伪点对剔除三个方面给出了ICP算法的具体应用策略和改进措施,并提出一种基于固定-自适应重叠率的伪点对剔除方法。详细阐述了基于改进ICP算法的两视角激光雷达数据配准的具体步骤,并进行了实验验证。实验结果表明:改进后的ICP算法能够有效实现了遮蔽条件下的激光雷达数据配准,且与其他算法相比,具有较强的稳建性和较高的配准精度。Two-viewing angle ladar data registration is an important content in the research filed of obscure target detection by air to ground. Iterative closest-point （ICP） algorithm provides the theoretical basis for it. But the corresponding points are difficult to be confirmed in the ICP algorithm due to the complexity of ladar data in the obscure condition. Based on the analysis of ICP algorithm fundamental principle and ladar data characteristics in the obscure condition, the application strategies and improvements of the ICP algorithm are proposed in three aspects, which are the support-points selecting, corresponding points matching and the pseudo-points removing. Moreover, a novel pseudo-points removing algorithm is proposed based on a fixed-adaptive overlap rate. Then the concrete steps of two-viewing angle ladar data registration using the improved ICP algorithm are elaborated, and lastly the experimental verification is carried out. The experimental results show that the improved ICP algorithm can effectively register the ladar data in the obscure condition, and has stronger robustness and higher registration accuracy compared with other algorithms.

关 键 词：图像处理 数据配准 迭代最近点 激光雷达 遮蔽目标 点云数据 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]