【摘要】 为实现三维点云的自动拼接,提出一种标志点的三维点云自动拼接方法。根据标志点的空间特征不变性,匹配3个标志点,利用三点法求取坐标变换矩阵,对目标标志点集合进行坐标变换;采用k-d树搜索最接近标志点,设置距离阈值排除错误标志点对,通过哈希表替换坐标变换后的标志点;运用最小二乘法求解点云的变换矩阵,进行点云拼接。三维拼接实验结果表明,该方法拼接精度高、错误率低,能够实现快速、自动拼接。更多还原

【Abstract】 To stitch the 3Dpoint-cloud automatically,a method of the automatically stitching 3Dpoint-cloud based on the marked point was proposed.Firstly,three marked points were matched according to the invariant feature of the marked points’ space,and the coordinate transformation matrix was obtained by using the three-point method and the coordinates of the set of target marked points were changed.Secondly,the closest marked point pairs were searched using the k-d tree,error marked point pairs were eliminated by setting the distance threshold,and the marked point was replaced after the conversion using the Hash table.Finally,the transformation matrix was solved through using the least squares method,and the points cloud stitching was achieved.The three-dimensional stitching experimental results show that this method is characterized by the high stitching precision and the low error rate,and it can be realized rapidly and stitch automatically.更多还原