| 一种改进的点云数据配准方法 |
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| 引用本文： | 邢正全,邓喀中.一种改进的点云数据配准方法[J].测绘工程,2011,20(2):21-23,34. |
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| 作者姓名： | 邢正全 邓喀中 |
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| 作者单位： | 中国矿业大学环境与测绘学院;中国矿业大学国土环境与灾害监测国家测绘局重点实验室; |
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| 基金项目： | 国家自然科学基金资助项目(41071273); 高等学校博士学科点专项科研基金(20090095110002); 江苏省普通高校研究生科研创新计划资助项目(CX08B_111Z) |
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| 摘 要： | 针对利用最近点迭代（ICP）算法进行点云数据配准时费时较多的问题,提出结合Butterworth高通滤波器和Sobel边缘检测算子首先对点云数据进行预处理,然后再用ICP算法进行点云配准,有效解决这一问题,加快配准速度,并在Matlab中编程实现该方法,具体实验结果证明该方法的有效性。
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| 关 键 词： | 最近点迭代（ICP）算法 点云配准 Sobel算子 Butterworth滤波器 |
An improved points cloud registration method |
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| XING Zheng-quan,DENG Ka-zhong.An improved points cloud registration method[J].Engineering of Surveying and Mapping,2011,20(2):21-23,34. |
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| Authors: | XING Zheng-quan DENG Ka-zhong |
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| Institution: | XING Zheng-quan1,2,DENG Ka-zhong1,2(1.School of Environment Science and Spatial Informatics,China University of Mining and Technology,Xuzhou 221008,China,2.Key Laboratory for Land Environment and Disaster Monitoring of SBSM,China) |
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| Abstract: | Too much time will be taken to match the points cloud with traditional ICP algorithm.The paper presents a new method to solve this problem.The Butterworth High-pass filter and Sobel edge detection operator are combined to preprocess the data firstly,and then match the points cloud with ICP algorithm.In this way,the registration is accelerated,and it was programmed with MATLAB.Finally,the experiment results show the validity of this method. |
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| Keywords: | Iterative Closest Point(ICP) algorithm points cloud registration Sobel operator Butterworth filter |
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