多视点三维点云场景拼接是解决激光三维主动成像目标自遮挡或被遮挡情况下目标数据不完全问题的一种有效方法，它将直接影响到后续的目标检测与识别处理。通过点云投影分布熵对场景独立坐标系进行估计，由此计算待拼接场景之间的空间变换参数，最后通过退火最近点迭代(ICP)方法，实现多视点场景的精确拼接。仿真实验结果表明，此方法是一种有效可行的方法。

Multi-view point cloud scenes mosaic is an effective method to solve the incomplete object data problem while self-occlusion and occlusion happened in ladar three dimensional imaging process. Mosaic method directly affects the object detection and recognition. By using projective distribution entropy, the independent coordination of point cloud scene is estimated. Based on this, space transform parameters between multi-view point cloud scenes are calculated. Then, the annealing interative closet point (ICP) algorithm is used for precise mosaic. Experimental results demonstrate the effectiveness and feasibility of the proposed algorithm.