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

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Integrated Circuits and Embedded Systems ›› 2023, Vol. 23 ›› Issue (4) : 61-65.

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

Shan Yanhu, Zhang Xiaodan, Chu Chengqun

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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.

Key words

point cloud registration / fast point feature histogram / normal distribution transformation / iterative closest point

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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

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