点云配准方法.pptx

ABriefIntroductionOfPointCloudRegistrationMethod
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Point Cloud Registration Method
Point Cloud Registration With Target Control
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Quaternion Method
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1
Iterative Closest Point(ICP) Algorithm
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Outline
Two point cloud sets of A and B,
are conformations of the same points in different coordinate systems
Rigid transformation:
Objective function:
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1. Point Cloud Registration With Target Control
4
面
（a）Leica standard rotation plane target
（b） Mensi plane target
Figure 1 Different kinds of plane target
（d） Mensi plane target
（c）FARO standard plane target
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1. Point Cloud Registration With Target Control
6 spatial similarity transformation parameters
3 angle elements:
3 translation elements:
Adjustment model:
Or
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1. Point Cloud Registration With Target Control
Rotation matrix:
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1. Point Cloud Registration With Target Control
The expansion of Taylor's formula:
Error Equation:
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G
1. Point Cloud Registration With Target Control
Derivative value:
Suppose that:
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1. Point Cloud Registration With Target Control
Error equation matrix:
Gravity-centralize:
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1. Point Cloud Registration With Target Control
N pairs of corresponding points:
Order:
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