| 基于欧氏距离测度的激光点云配准 |
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| 引用本文： | 张梅,文静华,张祖勋,张剑清.基于欧氏距离测度的激光点云配准[J].测绘科学,2010,35(3):5-8. |
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| 作者姓名： | 张梅 文静华 张祖勋 张剑清 |
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| 作者单位： | 武汉大学遥感信息工程学院,武汉,430079;贵州财经学院数学与统计学院,贵阳,550004;贵州财经学院数学与统计学院,贵阳,550004;武汉大学遥感信息工程学院,武汉,430079 |
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| 基金项目： | 国家自然科学基金，贵州省教育厅自然科学基金资助项目 |
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| 摘 要： | 针对激光扫描测量系统得到的多视角点云数据,提出用离散对应特征和迭代最近点(ICP)算法相结合的方法,对点云模型多视配准技术进行了研究。首先给出单位四元数和旋转矩阵的关系以及线性最小二乘法原理;然后利用基于离散对应特征的方法求出刚体变换的一个初值,并用迭代最近点(ICP)算法精确估计刚体变换参数;最后用工件36副真实点云模型的配准结果证明此方法的有效性。
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| 关 键 词： | 多视角点云 单位四元数 线性最小二乘法 迭代最近点(ICP)算法 |
Laser points cloud registration using Euclid distance measure |
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| ZHANG Mei,WEN Jing-hua,ZHANG Zu-xun,ZHANG Jian-qing.Laser points cloud registration using Euclid distance measure[J].Science of Surveying and Mapping,2010,35(3):5-8. |
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| Authors: | ZHANG Mei WEN Jing-hua ZHANG Zu-xun ZHANG Jian-qing |
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| Abstract: | The Point cloud multi-view registration technology was studied based on the combination of discrete corresponding characters and the iterative closest point (ICP) algorithm. Firstly, the relationship between unit quaternions and rotary matrix and the princple of the linear least squares were given. Then the initial value of a rigid transform was calculated on the basis of discrete corresponding characters, and the rigid transform parameters were estimated accurately by the ICP algorithm. Finally, the validity of this method is proved by the registration result of the real thirty-six point cloud models of a work piece. |
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| Keywords: | multi-view point cloud unit quaternions linear least squares iterative closest point (ICP) algorithm |
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