为了解不同点云配准方法的配准效率和配准精度,使用不同的点云配准方法(三维形状上文、点特征直方图、快速点特征直方图、四点一致集、迭代最近点、正态分布变换)对三维点云数据进行了粗配准实验。在实验过程中记录了点云配准的时间和点云配准在x、y、z轴上的旋转角度误差和平移距离误差,通过分析实验记录的数据来比较不同点云配准方法在粗配准实验中的配准效率和配准精度。实验结果表明,三维形状上文、点特征直方图、快速点特征直方图在粗配准实验中表现良好;四点一致集配准效果较好,但耗时较长;迭代最近点不适用于粗配准;正态分布变换在粗配准实验中表现一般。该实验结论能够为不同情况下点云配准方法的选择提供有效的借鉴。

In order to understanding the registration efficiency and registration accuracy of different point cloud registration methods, six different point cloud registration methods (3DSC, PFH, FPFH, NDT, ICP, 4PCS) are selected to perform three-dimentional point cloud data in the coarse registration experiment. The time of point cloud registration and the rotation angle error and translation distance error of point cloud registration on the x, y, and z axis are recorded during the experiment, the registration efficiency and registration accuracy of different point cloud registration methods in the coarse registration experiment are compared by analyzing the data recorded by the experiment. The experimental results show that 3DSC, PFH, and FPFH perform well in the coarse registration experiment, 4PCS has good registration effect but longer time consumption, ICP is not suitable for coarse registration, and NDT performs general in coarse registration experiments. The conclusion of this experiment can provide an effective reference for the selection of point cloud registration methods in different situations.