结合方向包围框改进的三维点云配准算法  

Improved 3-D Point Cloud Registration Algorithm with Oriented Bounding Box

作　　者：兰文昊 李宁[2] 佟强 LAN Wenhao;LI Ning;TONG Qiang(School of Automation,Beijing Information Science and Technology University,Beijing 100101,China;School of Computer,Beijing Information Science and Technology University,Beijing 100101,China)

机构地区：[1]北京信息科技大学自动化学院,北京100101 [2]北京信息科技大学计算机学院,北京100101

出　　处：《计算机工程与应用》2022年第14期177-184,共8页Computer Engineering and Applications

摘　　要：为了提升源点云和模板点云在初始相对偏转角度过大时的配准精度,提出了一种结合方向包围框的改进PointNetLK算法PointNetLK-OBB。该算法用三维点云的方向包围框表示源点云和模板点云的宏观特征,在最近点迭代算法的引导下,对齐源点云和模板点云的方向包围框,并在源点云和模板点云间产生镜面对称效应;根据源点云和模板点云的拟合度探测镜面对称的对称面,得到源点云自身的最佳旋转和平移,完成三维点云配准任务。为了验证算法的有效性,在公开数据集ModelNet40上进行对比实验,实验结果显示,PointNetLK-OBB与PointNetLK相比,提升了源点云和模板点云在初始相对偏转角度过大时的配准精度,对源点云和模板点云间的初始相对位置敏感度降低。创新在于,利用PointNetLK绕开传统点云配准的非凸问题,借助于方向包围框的规整性避开PointNetLK语境下出现的局部最优问题。In order to improve the registration accuracy of the source point cloud and the template point cloud when the initial relative deflection angle is too large,an improved PointNetLK algorithm,PointNetLK-OBB,combined with oriented bounding box is proposed.In this algorithm,the oriented bounding box of 3D point cloud is used to represent the macro characteristics of source point cloud and template point cloud.Under the guidance of iterative closest point algorithm,the oriented bounding box of source point cloud and template point cloud is aligned,and mirror symmetry effect is produced between source point cloud and template point cloud.According to the fitting degree of source point cloud and template point cloud,the mirror symmetry plane is detected,and the optimal rotation and translation of source point cloud is obtained to complete the registration task of 3D point cloud.In order to verify the effectiveness of the algorithm,a comparative experiment is carried out on the public data set ModelNet40.The experimental results show that,compared with Point-NetLK,PointNetLK-OBB improves the registration accuracy of the source point cloud and the template point cloud when the initial relative deflection angle is too large,and the sensitivity of the initial relative position between the source point cloud and the template point cloud is reduced.The innovation of this paper is to use PointNetLK to avoid the non-convex problem of traditional point cloud registration,and to avoid the local optimization problem in PointNetLK context with the help of the regularity of oriented bounding box.

关 键 词：三维点云配准 方向包围框 PointNetLK-OBB 镜面对称 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]