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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:

期数:

2011年08期

页码:

75-77

栏目:

智能、算法、系统工程

出版日期:

1900-01-01

文章信息/Info

Title:

Three-Dimensional Cloud ICP Algorithm Improvement

文章编号:

1673-629X（2011）08-0075-03

作者:

周春艳 李勇 邹峥嵘

中南大学信息科学与工程学院

Author(s):

ZHOU Chun-yan; LI Yong; ZOU Zheng-rong

School of Information Science and Engineering,Central South University

关键词:

ICP算法; 三维扫描; 数据配准; 点云

Keywords:

ICP algorithm;  three-dimensional scanning;  data registration;  points cloud

分类号:

TP301.6

文献标志码:

A

摘要:

三维激光扫描技术的快速发展,使其在各个领域得到广泛应用。由于物理上的一些限制,一次三维激光扫描不能获取扫描物体的全部数据,因此要对扫描点云进行拼接。首先,对最常用的ICP算法进行一系列研究,ICP算法的前提条件是具有一个良好的配准初值,文中在配准初值的选取上采用主成分分析法,为后续ICP算法的工作提供一个良好前提条件,增加点集预处理,点对查找上增加各种限制,采用kd-tree加速查找,以此对算法进行改进,并通过实例来验证本算法的有效性及合理性

Abstract:

Rapid development of three-dimensional laser scanning technology is to make it wider application in all fields.Due to physical limits,a three-dimensional laser scanning can＇t acquire all the data object,so to scanning point clouds for stitching.First of all,conduct a series of studies on ICP algorithm most frequently used in this document,a prerequisite for ICP algorithm is a good registration of initial value,the article on registration of initial value selection uses principal component analysis method,as the follow-up work to provide a good prerequisite of ICP algorithm to increase point of pretreatment and to seek to increase various restrictions,kd-tree acceleratedly finds to improve algorithm,and through an instance to verify the validity of this algorithm and rationality

备注/Memo

备注/Memo:

国家自然科学基金（6107187）周春艳（1965-），女，硕士，副教授，主要研究方向为数字图像处理、三维激光扫描等

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更新日期/Last Update: 1900-01-01