| SIFT算法在点云配准中的应用 |
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| 引用本文： | 王程冬,程筱胜,崔海华,戴宁.SIFT算法在点云配准中的应用[J].传感器与微系统,2012,31(2):149-152. |
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| 作者姓名： | 王程冬 程筱胜 崔海华 戴宁 |
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| 作者单位： | 南京航空航天大学机电学院,江苏南京,210016 |
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| 摘 要： | 提出一种精确有效的点云配准算法。通过对图像进行SIFT特征检测与匹配来获得特征点与匹配关系,用RANSAC算法剔除误匹配点,然后由映射关系获取三维对应特征点,采用投票法来进一步剔除误匹配点。在由单位四元数法获得点云初始位置关系的基础上,采用基于特征点的改进ICP算法来实现精确配准。通过实验验证,该算法在点云配准中具有速度快和稳定性好的特点。
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| 关 键 词： | 点云配准 SIFT算法 单位四元数 ICP算法 |
Application of SIFT algorithm in point cloud registration |
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| WANG Cheng-dong
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CHENG Xiao-sheng
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CUI Hai-hua
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DAI Ning.Application of SIFT algorithm in point cloud registration[J].Transducer and Microsystem Technology,2012,31(2):149-152. |
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| Authors: | WANG Cheng-dong CHENG Xiao-sheng CUI Hai-hua DAI Ning |
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| Affiliation: | (School of Mechanical and Electrical Engineering,Nanjing University of Aeronautics & Astronautics,Nanjing 210016,China) |
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| Abstract: | An accurate and efficient algorithm of point cloud auto registration algorithm is proposed.Corresponding feature points in the images are found by using the SIFT algorithm,RANSAC algorithm is used to eliminate the outlier feature matches.The corresponding points in the point cloud is obtained,false matches are eliminated by using a voting scheme.The unit quaternion solution is employed for initial registration.An improved ICP algorithm based on feature points is used to achieve precise registration.Experiments show that this algorithm has fast and stable characteristics in point clouds registration. |
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| Keywords: | point cloud registration SIFT algorithm unit quaternion ICP algorithm |
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