| 基于标签法和ICP的点云拼接方法 |
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| 引用本文： | 吴霆. 基于标签法和ICP的点云拼接方法[J]. 仲恺农业技术学院学报, 2011, 24(4): 57-59 |
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| 作者姓名： | 吴霆 |
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| 作者单位： | 仲恺农业工程学院信息学院,广东广州,510225 |
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| 摘 要： | 对基于标签法和迭代最近点（Iterative closest point，ICP）算法相结合的点云拼接方法进行了研究．通过在物体上贴标志点来获取点云间的初始匹配关系，根据距离约束原理来选取匹配点，运用最小距离和角度位姿约束排除错误匹配点完成粗拼接；然后通过改进的ICP算法实现精确拼接．试验结果表明该方法简单可靠，具有较高的拼接精度．
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| 关 键 词： | 点云 标签法 粗拼接 迭代最近点（Iterative closest point，ICP） 精拼接 |
A point cloud registration method based on marking points and ICP algorithm |
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| WU Ting. A point cloud registration method based on marking points and ICP algorithm[J]. Journal of Zhongkai Agrotechnical College, 2011, 24(4): 57-59 |
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| Authors: | WU Ting |
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| Affiliation: | WU Ting(College of Information,Zhongkai University of Agriculture and Engineering,Guangzhou 510225,China) |
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| Abstract: | A point cloud registration method based on marking points and iterative closest point （ICP） algorithm was analyzed. The coarse registration was completed by pasting marking points, selecting pair -wise points through distance constraint principle, eliminating error matched points using minimum distance and angle pose constraint. The precise registration was completed by the improved ICP algorithm. Experimental results showed that the method was simple and reliable with high precision. |
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| Keywords: | point cloud marking points registration coarse registration iterative closest point （ICP） precise registration |
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