CAJ | 학술논문

针对目前已有的三维点云配准算法直接在全局上进行配准，不能有效地处理重叠比例较低和重叠区域特征不明显的三维点云数据的问题，提出一种区域层次上的自动点云配准算法。首先利用刚体变换的低维性质，把区域作为基本的配准对象，将全局配准分解为多个规模更小的区域配准，通过重叠的区域恢复区域间局部的刚体变换；其次引入可信性和一致性的概念，通过求解一个优化问题从一系列区域配准中得到全局配准；最后用稀疏 ICP 算法进行精确配准。实验结果表明，该算法在保持对噪声和离群点鲁棒的前提下可以正确配准重叠比例更低的点云，适用范围更广泛。
침대목전이유적삼유점운배준산법직접재전국상진행배준，불능유효지처리중첩비례교저화중첩구역특정불명현적삼유점운수거적문제，제출일충구역층차상적자동점운배준산법。수선이용강체변환적저유성질，파구역작위기본적배준대상，장전국배준분해위다개규모경소적구역배준，통과중첩적구역회복구역간국부적강체변환；기차인입가신성화일치성적개념，통과구해일개우화문제종일계렬구역배준중득도전국배준；최후용희소 ICP 산법진행정학배준。실험결과표명，해산법재보지대조성화리군점로봉적전제하가이정학배준중첩비례경저적점운，괄용범위경엄범。
We present a region-based algorithm for the automatic registration of 3D point clouds. Most ex-isted algorithms align the two scans globally, making them unsuitable when the overlapping ratio is low or the input shapes do not have strong features. We notice that rigid transform is low-dimensional and two overlapped regions of the point clouds are enough to recover it. Thus, we align each pair of regions directly, and then solve an energy optimization to obtain the global transform from a series of region registrations by introducing confidence term and consistency term. Finally, sparse ICP algorithm is used for refinement. Ex-periments show that under premise of robustness to noise and outliers, our algorithm can align scans with lower overlapping ratio and more general shapes.