基于单位四元数法的激光点云拼接算法研究

Laser Point Cloud Alignment Based on Unit Four Elements Method

在实际生产应用中经常需要对激光器多次测量所得点云进行点云拼接,为解决激光点云的精确拼接问题,提出了一种基于单位四元数的点云拼接算法,通过计算点云重心点所在曲面的曲率特征点,经过多次迭代寻找最近点,求出点云平移与旋转矩阵的最优解,进而完成点云的自动精确拼接。

This paper describes an efficient algorithm for laser point cloud auto registration based on the unit four elements method. We find out the closest matching point by calculating the eigenvectors of the laser point cloud via repeated iterations, and obtain the optimum solution to the rotation and translation matrices of this point, thus achieving the precise automatic alignment of the point cloud.