python 点云配准_点云配准(Registration)算法——以PCL为例

最新推荐文章于 2024-07-10 06:00:00 发布

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最新推荐文章于 2024-07-10 06:00:00 发布

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文章标签： python 点云配准

本文介绍了PCL库中点云配准的过程，包括识别兴趣点、计算特征描述符、估计对应关系、剔除错误对应及估计运动变换等步骤。涉及的关键技术有NARF、FPFH特征、RANSAC去除坏对应和SVD求解变换矩阵等。通过不同匹配和搜索策略，PCL提供了全面的算法实现。

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本文为PCL官方教程的Registration模块的中文简介版。

An Overview of Pairwise Registration

点云配准包括以下步骤：

from a set of points, identify interest points (i.e., keypoints) that best represent the scene in both datasets;

at each keypoint, compute a feature descriptor;

from the set of feature descriptors together with their XYZ positions in the two datasets, estimate a set of correspondences, based on the similarities between features and positions;

given that the data is assumed to be noisy, not all correspondences are valid, so reject those bad correspondences that contribute negatively to the registration process;

from the remaining set of good correspondences, estimate a motion transformation.

针对上述每一个步骤，PCL的registration模块提供了多种算法进行实现。

Keypoint

诸如 NARF, SIFT and FAST。

Feature descriptors

诸如NARF, FPFH, BRIEF or