基于点云能量计算的半刚性配准算法

SEMI-RIGID REGISTRATION METHOD BASED ON POINT CLOUD ENERGY CALCULATION

针对3D复杂点云模型,提出一种基于能量值的半刚性配准算法。该算法首先对点云进行基于法向量夹角距离的分割处理从而生成多个刚性子点云。通过整数规划法计算子点云间的配准能量从而推测配准的初始3D变换矩阵。基于初始矩阵,点云的最终配准结果由子点云间刚性配准方法 ICP实现。实验结果证明该方法可有效应用于模拟场景以及真实复杂场景的配准应用中。

We proposed an energy value-based semi-rigid registration method for 3D complex point cloud model. First the method segments the point cloud based on distance of normal vector angle so as to generate a couple of rigid sub-point clouds. Then it calculates the alignment energy between sub-point clouds with integer programming method so that to speculate on the initial 3D transformation matrix of registration.Based on initial matrix,the finial registration result is implemented by rigid alignments method ICP among sub-point clouds. Experimental results demonstrated that the method can be effectively applied to the registration applications in simulative scenes and real complex scenes.