提出了一种利用点云边界特征点的改进迭代最近点（ICP）方法，用于提高逆向工程中点云数据配准的效率和精度。首先，通过3D空间网格划分和边界种子格点识别算法提取点云边界特征点，使用奇异值分解（SVD）计算初始配准变换矩阵。然后，通过加权对应点排除权重过大的点，并引入M-估计优化目标函数以消除异常点。实验结果显示，与原始ICP方法相比，改进方法效率提升超过70%，误差降低到0.02%。
摘要：
An improved Iterative Closest Point (ICP) method based on the boundary feature points of the point cloud is proposed to improve the efficiency and accuracy of point cloud data registration in reverse engineering fields. First, an initial registration method based on the boundary feature points of point cloud is proposed. The method partitions the minimum bounding box of point cloud with grids in a 3D space, and sets up the space grid model. Then, it applies boundary seed grid recognition and growth algorithms to extract feature points from the boundary of point cloud, and works out the transformation matrix using Singular Value Decomposition (SVD) method to get the results of initial registration. Furthermore, an improved ICP accurate registration method is presented. It weighs the corresponding points of the point cloud, eliminates the points whose weight is larger than the threshold, and introduces M-estimation to the objective function to eliminate the abnormal points. Finally, the point cloud is accurately registered by the improved ICP method on the basis of initial registration. Compared with original ICP method, the improved ICP method increases the efficiency by more than 70 percent and reduces the error to 0.02 percent. The experiment results indicate that the method proposed in this paper improves the efficiency and accuracy of point cloud registration greatly.
展开
扫一扫
257
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
