散乱点云数据配准方法研究-摄影测量与遥感专业论文.docxVIP

I I PAGE PAGE IV 摘要 作为一种新兴的空间数据信息获取技术，三维激光扫描技术现已在文物保护、逆向 工程、虚拟现实等多个领域有着广泛的应用。点云数据配准是指为了得到被测目标的完 整数据，将从不同视角采集的点云数据统一到相同的坐标系下的过程。随着点云配准技 术的广泛应用，如何得到既快速又精确的配准结果成为了当前点云自动配准算法研究的 主要目标。本文主要内容如下： (1)实现了基于 PFH 和 FPFH 两个特征描述算子以及采样一致性原理的初始配准方 法。通过提取关键点、计算关键点的描述算子、采样一致性算法匹配点对这三个主要步 骤来完成点云初始配准。 (2)对于原始 ICP 算法，通过引入体素格网法来完成对点云数据的精简；通过采用 RANSAC 算法剔除错误点对，来实现对相对低重叠区域点云数据的配准。并以此为基 础，提出了改进的 ICP 点云精细配准的方法。 (3)本文利用以上理论对三组不同类型的点云数据进行了实验。实验结果表明，利用 PFH 和 FPFH 两算子均完成了点云初配准的工作，并且使用 FPFH 算子的方法有较高的 效率。利用改进的 ICP 算法在上一步实验的基础上对点云进一步配准，取得了更高的精 度，证明了算法的有效性。 关键字：点云配准，特征描述算子，初始配准，精细配准，ICP Abstract As a new spatial data acquisition technique,3D laser scanning technology has been widely used in a number of areas,such as cultural relics protection, reverse engineering, virtual reality and so on. In order to get the complete data of the measured target ,we need to unify the data points collected from different perspective,so that they can be measured in a uniform coordinate system,this process is called point cloud data registration.With the wide application of point cloud registration technology, how to get fast and accurate registration results has become the main target of automatic algorithm for point cloud registration.The main contents are as follows: The initial registration method based on PFH and FPFH descriptors and a sample consensus method is achieved.We complete the initial point cloud registration by using the three main steps of extracting the key points,calculating the descriptors of key points,corresponding point-pairs by using sample consensus algorithm. For the original ICP algorithm,we introduce a voxel grid method to complete the point cloud data streamlining and eliminate the wrong point-pairs by using RANSAC algorithms to achieve the registration of the relatively low overlapping region point cloud data.On this basis, we proposed an improved ICP accurate point cloud registration method. In this paper,we use the above thory to make experiments for three different types of point