摘要
针对不同尺度的点云配准,提出一种扩展的GICP方法。GICP方法是一种面对面的配准策略,通过计算每次迭代中各变量的导数,快速地实现最优变换矩阵计算。提出的算法是通过增加尺度变量来扩展GICP的功能,并给出详细的尺度变量的推导公式。实验结果证明,该方法可以有效地对室内和室外不同尺度点云进行配准以及尺度估计。
For the point cloud alignment with different scales,an extended GICP method was proposed. The GICP method was a face-to-face registration strategy. By calculating the derivative of each variable in each iteration,the optimal transformation matrix can be calculated quickly. The algorithm proposed in this paper extent the function of GICP by increasing the scale variables,and gave detailed derivation formulas for scale variables. Experimental results showed that this method can effectively align and scale the indoor and outdoor point clouds at different scales.
作者
林宝尉
王法胜
孙怡
Lin Baowei;Wang Fasheng;Sun Yi(Dalian University of Technology, Dalian 116023, Liaoning, China;Dalian Neusoft University of Information, Dalian 116023, Liaoning, China;Dalian Minzu University, Dalian 116600, Liaoning, China)
出处
《计算机应用与软件》
北大核心
2018年第5期202-207,共6页
Computer Applications and Software
基金
辽宁省博士科研启动基金项目(20161315)
大连市中青年创新人才计划项目(2015R092)
关键词
GICP
点云
尺度估计
点云配准
GICP
Point cloud
Scale estimation
Point cloud alignment
