激光与光电子学进展, 2021, 58 (4): 0415008, 网络出版: 2021-02-22   

三维点云中关键点的配准与优化算法 下载: 1550次

Registration and Optimization Algorithm of Key Points in Three-Dimensional Point Cloud
作者单位
1 重庆理工大学电气与电子工程学院, 重庆 400054
2 电梯智能运维重庆市高校工程中心, 重庆 402260
3 光纤传感与光电检测重庆市重点实验室, 重庆 400054
摘要
传统三维(3D)点云配准过程中存在配准误差高、计算量大及耗时长等问题,针对该问题,提出了一种3D点云中关键点的配准与优化算法。在关键点选取阶段,用边缘点检测算法剔除边缘关键点,以提高关键点特征描述的全面性和重复性,降低3D点云配准误差。在3D点云配准阶段,用K-维树(KD-tree)加速的最近邻算法和迭代最近点算法剔除粗配准结果中的误配准关键点,降低配准误差,提高3D点云配准的速度与精度。实验结果表明,本算法在不同点云数据下,均能获得良好的配准结果。与传统3D点云配准算法相比,本算法的平均配准速率提高了68.725%,平均配准精度提高了49.65%。
Abstract
In the traditional three-dimensional (3D) point cloud registration process, there are some problems such as high registration error, large amount of calculation and time-consuming. Aiming at these problems, a registration and optimization algorithm of key points in 3D point cloud is proposed in this paper. In the key point selection stage, the edge point detection algorithm is proposed to eliminate the edge points, improve the comprehensiveness and repeatability of the feature description of key points, and reduce the registration error of 3D point cloud. In the 3D point cloud registration stage, K-dimensional tree (KD-tree) accelerated nearest neighbor algorithm and iterative nearest point algorithm are used to eliminate key misregistration points in the coarse registration results, reduce the registration errors, and improve the speed and accuracy of 3D point cloud registration. Experimental results show that the algorithm can obtain good registration results under different cloud data. Compared with the traditional 3D point cloud registration algorithm, the average registration rate and the average registration accuracy of the algorithm are improved by 68.725% and 49.65%, respectively.

宋涛, 曹利波, 赵明富, 刘帅, 罗宇航, 杨鑫. 三维点云中关键点的配准与优化算法[J]. 激光与光电子学进展, 2021, 58(4): 0415008. Tao Song, Libo Cao, Mingfu Zhao, Shuai Liu, Yuhang Luo, Xin Yang. Registration and Optimization Algorithm of Key Points in Three-Dimensional Point Cloud[J]. Laser & Optoelectronics Progress, 2021, 58(4): 0415008.

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