基于共有单平面的点云拼接技术研究

提出基于共有单平面的点云拼接技术。首先进行共有平面的提取、拟合，精确计算平面的法向量|再运用平面的法向量信息，求取旋转角构造旋转矩阵|最后通过平面的中心点进行坐标平移，完成点云拼接。分别通过模拟数据和实验数据验证了该算法的正确性。

Point Clouds Registration Based on Commonality Single Plane

We use the scanning plane of the view instead of the common point to set up a corresponding mathematical model to complete point cloud registration. This paper proposes a method on point clouds registration using commonality single-plane. First, we do planes extraction, plane fitting, and calculate the plane normal accurately. Second, we use the plane normal information to calculate rotation angle and construct a rotation matrix. Finally,we do coordinate translation with the plane center to complete the point clouds registration. Experiments were carried out by simulated data and experimental data to verify the correctness of the algorithm.