基于一阶展开多项式快速趋近的非线性ICP配准理论模型-北京大学学报.PDFVIP

北京大学学报 ( 自然科学版), 第 49 卷 , 第 5 期 , 2013 年 9 月 Acta Scientiarum Naturalium Universitatis Pekinensis, Vol. 49, No. 5 (Sept. 2013) 基于一阶展开多项式快速趋近的 非线性ICP 配准理论模型 † 左志权 刘正军 张力 中国测绘科学研究院, 北京 100830; † E-mail: zzquanlink@163.com 摘要 针对传统离散点云 ICP 配准算法迭代次数多、收敛慢等特点, 提出以 3D 点集间共轭点欧氏距离之和 最小为理论基础的非线性最小二乘配准数学模型。通过对真实激光雷达扫描点云进行配准对比实验, 表明在 初值条件相同情况下, 所提出的非线性 ICP 配准模型不仅能与传统 ICP 配准达到同样的配准精度, 而且能在 6~7 次左右达到快速迭代收敛, 是实现传统 ICP 配准模型的一种新途径。 关键词 最近迭代点 ; 3D 表面匹配; 空间相似变换; 不规则三角网 ; 共轭点 中图分类号 TP79 Theoretical Model of Non-linear ICP Co-registration Based on Fast Approximation of 1st Polynomials Extension † ZUO Zhiquan , LIU Zhengjun, ZHANG Li Chinese Academy of Surveying and Mapping, Beijing 100830; † E-mail: zzquanlink@163.com Abstract In order to avoid the drawback of the traditional ICP (iteration closest point) method for co-registration, a non-linear least squares co-registration model is proposed, which is based on minimizing the sum of squares of the Euclidean distances between two overlapped surfaces. The experiments demonstrate that the proposed method can be used for the co-registration of cloud points collected by the airborne laser scanner, and the experimental results are comparable with those of traditional methods. The experimental results imply that the proposed method has a good performance for transformation parameters estimation in 3