一种新的激光成像数据多视粗拼接算法

A novel method for registration of multi-view laser imaging data

针对激光成像数据的多视拼接问题,采用先粗后细的拼接策略,提出了一种新的粗拼接算法。该算法首先估计出待拼接点云数据存在的旋转偏移角,再通过相应的旋转来消除这种偏移,从而实现粗拼接。在此基础上,采用精确拼接ICP算法作最终拼接。实验表明,本文提出的粗拼接算法能够有效地实现不同视点下激光成像数据的粗拼接,该方法简单、高效,且适用于不同分辨率的数据拼接。

For the problem of the multi-view registration of laser imaging data,the coarse-to-fine strategy is adopted so that a novel coarse registration method is proposed.The proposed method first estimates the rotation excursion angles of various-view point clouds,and then eliminates the existed excursion by corresponding rotation,thus realizing the coarse registration.Finally,ICP （Iterative Closest Point） is employed for fine registration.Experimental results show that the proposed method can realize coarse registration of various-view laser imaging data effectively and demonstrate that the method is simple and high-efficient so as to be suitable to different-resolution data.