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: 1561次
Registration and Optimization Algorithm of Key Points in Three-Dimensional Point Cloud
图 & 表
图 3. 3D点云边缘点的选取示意图
Fig. 3. Schematic diagram of the selecting edge points of the 3D point cloud
图 6. 原始的3D点云图像。(a) bun_zipper;(b) bun_zipper_tran;(c) bun_zipper_res2;(d) bun_zipper_res2_tran;(e) Armadilloside_60;(f) Armadilloside_90;(g) happySideRight_0;(h) happySideRight_24
Fig. 6. Image of the original 3D point cloud. (a) bun_zipper; (b) bun_zipper_tran; (c) bun_zipper_res2; (d) bun_zipper_res2_tran; (e) Armadilloside_60; (f) Armadilloside_90; (g) happySideRight_0; (h) happySideRight_24
图 7. 边缘检测与剔除边缘关键点的3D点云。(a)关键点的提取结果; (b)边缘检测结果;(c)剔除边缘关键点的结果
Fig. 7. 3D point cloud with edge detection and removal of key points on the edge. (a) Result of the extraction of key points; (b) result of the edge detection; (c) result of the removing key points of the edge
图 8. 完整点云配准优化的结果。(a)本算法;(b)传统算法
Fig. 8. Result of the complete point cloud registration optimization. (a) Our algorithm; (b) traditional algorithm
表 1关键点的选取与边缘点的剔除结果
Table1. Results of the key points selection and edge point elimination
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表 2两种算法配准后的误差得分及时间
Table2. Error scores and time after registration of the two algorithms
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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.