一种基于SACNDT和ICP的高精度点云配准方法*

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集成电路与嵌入式系统 ›› 2023, Vol. 23 ›› Issue (4) : 61-65.

新器件新技术

一种基于SACNDT和ICP的高精度点云配准方法^*

单彦虎, 张潇丹, 储成群

作者信息 +

High-precision Point Cloud Registration Method Based on SAC-NDT and ICP

Shan Yanhu, Zhang Xiaodan, Chu Chengqun

Author information +

文章历史 +

摘要

传统的正态分布变换算法精度低,而精度较高的迭代最近点算法极易陷入局部最优解。为了解决以上问题,将采样一致性算法与NDT算法结合作为点云初始配准方法,再利用KD-tree加速的ICP精配准方法完成点云匹配。实验结果表明,本文所提出的方法大大提高了配准精度。

Abstract

The traditional normal distributions transform(NDT) algorithm has low accuracy,while the iterative closest point(ICP) algorithm with high accuracy is easy to fall into the local optimal solution.In order to solve the above problems,the sample consensus initial alignment(SCA) algorithm and NDT algorithm are combined as the point cloud initial registration method,and then the ICP fine registration method accelerated by KD-tree (K-Dimensional tree) is used to complete the point cloud matching.The experiment results show that the method in this paper greatly improves the accuracy of registration.

导出引用

单彦虎, 张潇丹, 储成群. 一种基于SACNDT和ICP的高精度点云配准方法^*[J]. 集成电路与嵌入式系统. 2023, 23(4): 61-65

Shan Yanhu, Zhang Xiaodan, Chu Chengqun. High-precision Point Cloud Registration Method Based on SAC-NDT and ICP[J]. Integrated Circuits and Embedded Systems. 2023, 23(4): 61-65

中图分类号： TP391

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