多视点距离图像的对准算法

提出一种多视点距离图像的对准算法.该算法将有拒绝的随机抽样和迭代最近点 (ICP: Iterative Closest Point)算法结合起来,采用粗、精对准时不同的评价函数,利用最小二 乘进行多视点之间运动参数的估计.为了快速进行3D点到物体表面的最近距离和最近点的 计算,采用了物体表面的八叉树样条表示.实验结果表明,该对准算法收敛速度较快,抗噪声 能力较强,并且有较高的对准精度.

A Method for Registering Multiple Range Images

In this paper, we propose an algorithm for the registration of multiple range images. Our registration algorithm is an integration of the iterative closest point (ICP) algorithm with random sampling having rejects and least squares (LS) estimation. The estimated motion parameters are evaluated by an adapted criterion in the coarse and fine registration, and the best updated estimation is used as the next initial value of the ICP algorithm. The algorithm uses an octree spline representation of surfaces to quickly compute the distances between points and surface and the closest point using trilinear interpolation. The proposed registration method is computationally efficient and robust to outliers. We have experimented successfully with the registration algorithm on synthetic and real range images.