基于罗德里格矩阵的三维激光扫描点云配准算法

本文提出了一种基于罗德里格矩阵的激光扫描点云配准直接计算方法。利用反对称矩阵和罗德里格矩阵的性质,用3个独立参数代替3个旋转角参数建立一种新旋转矩阵解算模型,推导出旋转变换误差方程,确定平移参数的计算公式。通过实验分析了坐标转换模型的精度和点云配准效果,结果表明该算法精度高,计算过程简单,可以准确地解算出三维坐标转换参数。

An algorithm for terrestrial laser scanning point clouds registration based on Rodriguez matrix

This paper presented an algorithm for terrestrial laser scanning data registration based on the Rodriguez matrix.By taking advantage of the property of the anti-symmetric matrix and Rodriguez matrix,three angle parameters were replaced by three independent elements in anti-symmetric and new six parameters of coordinate transformation were defined.The new rotation matrix solution model was established and the error equation of rotation transformation was deduced.The precision of the coordinate transformation model and the effect of the point clouds registration were analyzed through an experiment.The results showed that the algorithm could improve the quality of laser scanning point clouds registration,because it was accurate,simple,and the three-dimensional coordinate transformation parameters could be calculated accurately.