Open3D笔记 - Fast Global Registration (快速全局匹配)
K \mathcal{K} K为点集 P P P和点集 Q Q Q之间的对应关系,论文中采用了FPFH建立两个点集的对应关系。优化目标函数如下:
E ( T , L ) = ∑ ( p , q ) ∈ K l p , q ∥ p − T q ∥ 2 + ∑ ( p , q ) ∈ K Ψ ( l p , q ) E(\mathbf{T}, \mathbb{L})= \sum_{(\mathbf{p}, \mathbf{q}) \in \mathcal{K}} l_{\mathbf{p}, \mathbf{q}}\|\mathbf{p}-\mathbf{T} \mathbf{q}\|^{2} + \sum_{(\mathbf{p}, \mathbf{q}) \in \mathcal{K}} \Psi\left(l_{\mathbf{p}, \mathbf{q}}\right) E(T,L)=(p,q)∈K∑lp,q∥p−Tq∥2+(p,q)∈K∑Ψ(lp,q