基于表面间三棱锥体积测度的点云配准

中国机械工程 ›› 2010, Vol. 21 ›› Issue (02): 175-178,211.

基于表面间三棱锥体积测度的点云配准

张梅1;文静华1;张祖勋2;张剑清2

1.贵州财经学院,贵阳,550004

2.武汉大学,武汉,430079

出版日期:2010-01-25 发布日期:2010-01-28
基金资助:
国家自然科学基金资助项目(40671157)；贵州省教育厅自然科学基金资助项目(黔教科2007047)；贵州省科技厅科学技术基金资助项目(黔科合J字[2009]2261)
National Natural Science Foundation of China（No. 40671157）;

Guizhou Provincial Natural Science Foundation of Ministry of Education of China（No. 2007047）;
Guizhou Provincial Science and Technology Foundation of Ministry of Science and Technology of China（No. [2009]2261）

Point Cloud Registration Using Surface Three-pyramid Volume Measure 

Zhang Mei1;Wen Jinghua1;Zhang Zuxun2;Zhang Jianqing2

1.Guizhou Financial Institute,Guiyang,550004

2.Wuhan University,Wuhan,430079

Online:2010-01-25 Published:2010-01-28
Supported by:

National Natural Science Foundation of China（No. 40671157）;

Guizhou Provincial Natural Science Foundation of Ministry of Education of China（No. 2007047）;
Guizhou Provincial Science and Technology Foundation of Ministry of Science and Technology of China（No. [2009]2261）

摘要/Abstract

摘要：

提出一种基于离散对应特征和表面间平均三棱锥体积测度的改进ICP算法,进行了多视激光点云配准。通过寻找两片点云重叠区域内的有效点与对应三角形对,并将有效点与对应三角形对所夹的空间三棱锥体积作为误差测度来指导激光点云的配准;将点与对应三角形的质心作为对应点对,估计出新的空间位置转换关系。实验结果表明：该改进算法具有较高的配准精度且收敛速度较快。

关键词:

误差测度, 三棱锥体积, 激光点云, 三角形质心

Abstract:

An improved ICP(iterative closest points) algorithm was researched,

which was based on discrete corresponding characteristics and error estimation of mean volume of three pyramid shaped by point and corresponding triangle between two surfaces, and it was used to align multi-view laser point cloud. Namely the registration of laser point cloud was instructed by searching effective point and corresponding triangle pair between two point cloud area and taking the spatial three-pyramid volume shaped by these point and corresponding triangle as error measure; then the new spatial position translation relation was estimated by using the point and the centroid of corresponding triangle as corresponding point pairs. The experimental results indicate the align accuracy of the improved algorithm is higher and its speed is faster than that of traditional ICP registration algorithm.

Key words: error measure, three-pyramid volume, laser point cloud, centroid of triangle

中图分类号:

TP391

张梅, 文静华, 张祖勋, 张剑清.

基于表面间三棱锥体积测度的点云配准

[J]. 中国机械工程, 2010, 21(02): 175-178,211.

ZHANG Mei, WEN Jing-Hua, ZHANG Jie-Xun, ZHANG Jian-Qing.

Point Cloud Registration Using Surface Three-pyramid Volume Measure 

[J]. China Mechanical Engineering, 2010, 21(02): 175-178,211.

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