ICP算法在点云配准中的应用

The Application of ICP Algorithm in Point Cloud Alignment

逆向工程中经常需要把多次测量得到的点云进行配准。提出了一种基于特征点的改进ICP算法,在采用主方向贴合法实现初始配准的基础上,使用曲率特征点和k-dtree寻找最近点,提高了ICP算法的效率。该算法具有速度快精确度高的特点,并且在实际应用中验证了配准效果和算法稳定性。

This paper describes an accurate and efficient algorithm of point cloud auto registration. The algorithm contains two steps ： initial registration and precise registration. We use eigenvectors of point clouds to achieve initial registration. For precise registration, an improved ICP（Iterative Closest Point） algorithm based on feature points generated by curvature is introduced. The effect of the algorithm is verified in the applications.