点云配准方法.pptx

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1、1 Point Cloud Registration MethodPoint Cloud Registration With Target Control34Quaternion Method 21Iterative Closest Point(ICP)Algorithm第1页/共18页 4 Outline Two point cloud sets of A and B,are conformations of the same points in different coordinate systems Rigid transformation:Objective function:第2页/

2、共18页1.Point Cloud Registration With Target Control3面面（a）Leica standard rotation plane target（b）Mensi plane targetFigure 1 Different kinds of plane target（d）Mensi plane target（c）FARO standard plane target 第3页/共18页41.Point Cloud Registration With Target Control6 spatial similarity transformation param

3、eters3 angle elements:3 translation elements:Adjustment model:Or第4页/共18页51.Point Cloud Registration With Target Control Rotation matrix:第5页/共18页61.Point Cloud Registration With Target Control The expansion of Taylors formula:Error Equation:第6页/共18页7 G1.Point Cloud Registration With Target Control De

4、rivative value:Suppose that:第7页/共18页81.Point Cloud Registration With Target Control Error equation matrix:Gravity-centralize:第8页/共18页91.Point Cloud Registration With Target Control N pairs of corresponding points:Order:第9页/共18页101.Point Cloud Registration With Target Control Error equation:第10页/共18页

5、1.Point Cloud Registration With Target Control11 New approximate value:Iteration:Finally,we get the values of parameter:第11页/共18页2.Iterative Closest Point(ICP)Algorithm12Basic thought:Firstly,from a point set,a bar curve,or a surface to find the closest point that corresponds to one point,and then u

6、ses this result to find two corresponding point sets.Finally,we find out the corresponding point set and the corresponding transformation matrix.Basic steps:Step1:Search for the nearest pointsStep2:Solve transformation relationsStep3:Application transformationStep4:Repeated iteration第12页/共18页3 Quate

7、rnion Method n What is Quaternion?13n Unit quaternions n Rotation matrix R 第13页/共18页3.Quaternion Method Definite translation vector:14Complete registration station:Assume that:Minimum objective function:The centroid of the set of basic points:第14页/共18页3.Quaternion Method 15 Orthogonal covariance matrix of point set:Antisymmetric matrixs cyclic components:Construct a symmetric matrix:第15页/共18页3.Quaternion Method 16 Translation matrix:The unit eigenvector corresponding to the maximum eigenvalue of matrix :Conclusions第16页/共18页 Thank you！17第17页/共18页感谢您的观看。第18页/共18页