基于鲁棒统计学方法的迭代最近点算法分析-analysis of iterative closest point algorithm based on robust statistics method.docxVIP

下载本文档

39
0
约3.89万字
约 55页
2018-05-28 发布于上海
举报
版权申诉

基于鲁棒统计学方法的迭代最近点算法分析-analysis of iterative closest point algorithm based on robust statistics method.docx

1、原创力文档（book118）网站文档一经付费（服务费），不意味着购买了该文档的版权，仅供个人/单位学习、研究之用，不得用于商业用途，未经授权，严禁复制、发行、汇编、翻译或者网络传播等，侵权必究。。
2、本站所有内容均由合作方或网友上传，本站不对文档的完整性、权威性及其观点立场正确性做任何保证或承诺！文档内容仅供研究参考，付费前请自行鉴别。如您付费，意味着您自己接受本站规则且自行承担风险，本站不退款、不进行额外附加服务；查看《如何避免下载的几个坑》。如果您已付费下载过本站文档，您可以点击这里二次下载。
3、如文档侵犯商业秘密、侵犯著作权、侵犯人身权等，请点击“版权申诉”（推荐），也可以打举报电话：400-050-0827(电话支持时间：9:00-18:30)。
4、该文档为VIP文档，如果想要下载，成为VIP会员后，下载免费。
5、成为VIP后，下载本文档将扣除1次下载权益。下载后，不支持退款、换文档。如有疑问请联系我们。
6、成为VIP后，您将拥有八大权益，权益包括：VIP文档下载权益、阅读免打扰、文档格式转换、高级专利检索、专属身份标志、高级客服、多端互通、版权登记。
7、VIP文档为合作方或网友上传，每下载1次，网站将根据用户上传文档的质量评分、类型等，对文档贡献者给予高额补贴、流量扶持。如果你也想贡献VIP文档。上传文档

基于鲁棒统计学方法的迭代最近点算法分析-analysis of iterative closest point algorithm based on robust statistics method

ABSTRACTThe visual system is one of the key subsystems of the IC manufacturing equipment. Image matching is function module of core in visual system for IC manufacturing equipment. Iterative closest point algorithm is a matching method for point set, which has a wide range of applications because of its high registration accuracy in image registration. This article study how to improve the iterative closest point algorithm in two stages of the weight given to the point pairs and the elimination of specific point pairs.First, the article describes the basic principles of the iterative closest point algorithm and analyzes the characteristics and shortcomings of the iterative closest point algorithm. In the two stages of the weight given to the point pairs and the elimination of specific point pairs, the robust statistical methods can improve the robustness of the iterative closest point algorithm. The main purpose of Robust Estimation is that robust estimation is able to make a good estimate when there are outliers in the observational data. The paper introduces three classic iterative closest point algorithms that incorporated the robust statistics methods, i.e., M-ICP algorithm, the RICP algorithm and TrICP algorithm.Another method of LTS is combined with the iterative closest point algorithm is proposed, which utilizes residuals distribution characteristic to get the number of pairs of the specific point selected in each iteration and calculation of the scaling parameter is joined. Experimental results show that the new algorithm for point set matching is feasible and effective in the presence of noise.Keywords: The iterative closest point algorithmRegistrationRobust statistic Outliers目录摘要 ...................................................................................................................................................IABSTRACT ...........................................................................................................................