摘要
为解决异常同名点影响点云配准问题,基于罗德里格矩阵,对同名点所构成的向量矩阵进行分解,通过分解得到的块状矩阵,推导出异常同名点探测的数学模型,给出了异常点探测的条件和异常点探测的最小值。实例验证表明:该方法对异常同名点进行探测及剔除再计算配准参数可行,且有助于提高点云配准的精度。
The block matrix is obtained by the tional conjugate points. The mathematical model of detailed decomposition of vector-matrix that consists of excepexceptional conjugate points detection is derived; the condition and minimum of exceptional points detection are given through the decomposed block matrix. The case study demonstrates that it is feasible to calculate the registration parameters after detecting and eliminating the exceptional conjugate points through this method, and it will be helpful to improve the accuracy of points cloud registration.
出处
《大地测量与地球动力学》
CSCD
北大核心
2013年第3期64-67,78,共5页
Journal of Geodesy and Geodynamics
基金
国家自然科学基金(41174010
41074025)
精密工程与工业测量国家测绘局重点实验室开放基金(PF2011-17)
关键词
点云配准
异常同名点
罗德里格矩阵
探测
数学模型
point cloud registration
exceptional conjugate point
Rodrigues matrix
detection
mathematical model
