| 改进的ICP点云配准算法 |
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| 引用本文： | 朱新宇,万剑华,刘善伟,曾喆.改进的ICP点云配准算法[J].海洋测绘,2015(2):77-79. |
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| 作者姓名： | 朱新宇 万剑华 刘善伟 曾喆 |
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| 作者单位： | 中国石油大学(华东)地球科学与技术学院 |
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| 摘 要： | 三维激光点云配准是点云三维建模的关键问题之一。经典的ICP算法对点云初始位置要求较高且配准效率较低,提出了一种改进的ICP点云配准算法。该算法首先利用主成分分析法实现点云的初始配准,获得较好的点云初始位置,然后在经典ICP算法的基础上,采用k-d tree结构实现加速搜索,并利用方向向量夹角阈值去除错误点对,提高算法的效率。实验表明,本算法流程在保证配准精度的前提下,显著提高了配准效率。
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| 关 键 词： | 点云配准 迭代最近点算法 主成分分析 方向向量阈值 k-d tree |
Improved ICP Algorithm for Point Cloud Registration |
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| ZHU Xinyu,WAN Jianhu,LIU Shanwei,ZENG Zhe.Improved ICP Algorithm for Point Cloud Registration[J].Hydrographic Surveying and Charting,2015(2):77-79. |
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| Authors: | ZHU Xinyu WAN Jianhu LIU Shanwei ZENG Zhe |
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| Institution: | ZHU Xinyu;WAN Jianhua;LIU Shanw ei;ZENG Zhe;School of Geosciences,China University of Petroleum; |
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| Abstract: | The registration of 3.D laser point cloud is one of the key problems in 3.D modeling.According to theclassical ICP algorithm,the paper proposes an improved ICP algorithm for point cloud registration.First of all,the initial registration in this paper uses principal component analysis method to obtain a better initial position ofthe point cloud.Then two point clouds are registered by k-d tree search and angle between the direction vectorsof two the point clouds based on traditional ICP algorithm.The accuracy of the improved process of algorithmwill not be affected to improve the efficiency.The algorithm is verified in the applications. |
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