点云配准方法.ppt

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1、ABriefIntroductionOfPointCloudRegistrationMethod杨哲1732822PointCloudRegistrationMethodPointCloudRegistrationWithTargetControl34QuaternionMethod21IterativeClosestPoint(ICP)Algorithm4OutlineTwopointcloudsetsofAandB,areconformationsofthesamepointsindifferentcoordinatesystemsRigidtransf

2、ormation:Objectivefunction:1.PointCloudRegistrationWithTargetControl4面（a）Leicastandardrotationplanetarget（b）MensiplanetargetFigure1Differentkindsofplanetarget（d）Mensiplanetarget（c）FAROstandardplanetarget51.PointCloudRegistrationWithTargetControl6spatialsimilaritytransformationparam

3、eters3angleelements:3translationelements:Adjustmentmodel:Or61.PointCloudRegistrationWithTargetControlRotationmatrix:71.PointCloudRegistrationWithTargetControlTheexpansionofTaylor'sformula:ErrorEquation:8G1.PointCloudRegistrationWithTargetControlDerivativevalue:Supposethat:91.PointC

4、loudRegistrationWithTargetControlErrorequationmatrix:Gravity-centralize:101.PointCloudRegistrationWithTargetControlNpairsofcorrespondingpoints:Order:111.PointCloudRegistrationWithTargetControlErrorequation:1.PointCloudRegistrationWithTargetControl12Newapproximatevalue:Iteration:Fin

5、ally,wegetthevaluesofparameter:2.IterativeClosestPoint(ICP)Algorithm13Basicthought:Firstly,fromapointset,abarcurve,orasurfacetofindtheclosestpointthatcorrespondstoonepoint,andthenusesthisresulttofindtwocorrespondingpointsets.Finally,wefindoutthecorrespondingpointsetandthecorrespond

6、ingtransformationmatrix.Basicsteps:Step1:SearchforthenearestpointsStep2:SolvetransformationrelationsStep3:ApplicationtransformationStep4:Repeatediteration3QuaternionMethodWhatisQuaternion?14UnitquaternionsRotationmatrixR3.QuaternionMethodDefinitetranslationvector:15Completeregistra

7、tionstation:Assumethat:Minimumobjectivefunction:Thecentroidofthesetofbasicpoints:3.QuaternionMethod16Orthogonalcovariancematrixofpointset:Antisymmetricmatrix’scycliccomponents:Constructasymmetricmatrix:3.QuaternionMethod17Translationmatrix:Theuniteigenvectorcorrespondingtothemaximu

8、meigenvalueofmatrix:Conclu