CAJ | 학술논문

点云配准技术在国内外各个领域都在不断的发展并且受到广泛关注，不同的配准方法都有其优势与不足。本文针对地面激光扫描获取的多个测站的点云的拼接问题，提出了一种新的配准方法，即在频域中对点云数据进行配准。该方法使用傅里叶变换将点云从空间域变换到频域，利用傅里叶变换可以将旋转、缩放这两个参数与平移参数分离，即可以单独在频域求解旋转和缩放，之后再在此基础上求解平移参数，从而实现对点云的配准。这种方法具有很强的鲁棒性，而且在频域中，不受点云本身噪声点、密度，或者某些结构缺失的影响，且不需要平移的初始估计。最后的实验结果也表明，本文的算法在实现点云配准时与传统的算法相比具有一定的优势。
점운배준기술재국내외각개영역도재불단적발전병차수도엄범관주，불동적배준방법도유기우세여불족。본문침대지면격광소묘획취적다개측참적점운적병접문제，제출료일충신적배준방법，즉재빈역중대점운수거진행배준。해방법사용부리협변환장점운종공간역변환도빈역，이용부리협변환가이장선전、축방저량개삼수여평이삼수분리，즉가이단독재빈역구해선전화축방，지후재재차기출상구해평이삼수，종이실현대점운적배준。저충방법구유흔강적로봉성，이차재빈역중，불수점운본신조성점、밀도，혹자모사결구결실적영향，차불수요평이적초시고계。최후적실험결과야표명，본문적산법재실현점운배준시여전통적산법상비구유일정적우세。
The technology of point cloud registration are widely concerned in various fields in domestic and abroad, and different registration approaches have their advantages and disadvantage. To the splicing problem of multi station point cloud obtained from terrestrial laser scanning, this paper proposes a new technique for the registration of point cloud, the registration in the frequency domain. The method in this paper changes point cloud from space domain to frequency domain by the Fourier Transform, and decouples the rotational parameters and the scale parameters from the translational parameters. It calculates the parameters of rotation and scale in the frequency domain, then solves the translation parameters, so as to realize the registration of point cloud. This method has good robustness, and no effects from the noise points, density, or some missing structure, and does not need an initial estimate of the translation. Finally, the experimental results show that, the algorithm compared with the traditional algorithm.