Point set rigid body registration method based on Loam curvature weighting

A rigid body registration and point set technology, applied in image data processing, instruments, calculations, etc., can solve the problems of low registration accuracy and poor robustness, and achieve the goal of improving robustness and accuracy and weakening negative effects Effect

Active Publication Date: 2019-11-05
西安交通大学深圳研究院
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Problems solved by technology

Therefore, the "negative impact" of noise is amplified due to its two-paradigm mode, resulting in low registration accuracy and poor robustness

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  • Point set rigid body registration method based on Loam curvature weighting
  • Point set rigid body registration method based on Loam curvature weighting
  • Point set rigid body registration method based on Loam curvature weighting

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Embodiment Construction

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] In order to achieve efficient, accurate and robust registration of two point sets, the present invention provides a point set rigid body registration method based on Loam curvature weighting, which specifically includes extracting the Loam curvature feature information of points and establishing a weighted objective function , iteratively realize the three parts of the registration of two point sets, such as figure 1 As shown, the method is specifically carried out in the following steps:

[0034] Step 1: Extract the Loam curvature features of each point in the shape point set and model point set:

[0035] The Loam curvature of a point is a simple and efficient representation of local shape features. The Loam curvature feature of a point expresses the rough geometric relationship between the point and the surrounding point se...

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Abstract

The invention discloses a point set rigid body registration method based on Loam curvature weighting. Firstly, coordinate information of a point set to be registered is obtained; a Loam curvature characteristic value of each point is extracted based on the position information of each point and the neighborhood point set of each point; then, according to the curvature relation between the corresponding points, registration weights are distributed to all the point pairs, and a weighting objective function is established; and finally, the point set registration weighting objective function is introduced into an iterative framework of an iterative nearest point algorithm to realize accurate registration between point sets. According to the method, the negative influence of partial point set missing and a large number of noise points on the registration result can be effectively reduced, and the robustness and accuracy of point set registration are improved.

Description

technical field [0001] The invention belongs to the technical field of computer vision and image processing, and in particular relates to a point set rigid body registration method based on Loam curvature weighting. Background technique [0002] Point set registration is a basic research in the fields of computer vision, image processing, pattern recognition, etc. It is widely used in popular applications such as unmanned vehicle driving, medical image analysis, face recognition, and quality inspection. In the point set registration problem, it is necessary to find an optimal geometric transformation relationship based on the coordinate information of the two point sets. degree of overlap. [0003] The research on point set registration can be traced back to the application of the United States in the military field in the 1970s. The previous explorations were only for point sets of certain special shapes such as quadric surface models, and the general focus was on the glob...

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Application Information

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IPC IPC(8): G06T7/33
CPCG06T7/33G06T2207/10004
Inventor 杨旸范丹丹
Owner 西安交通大学深圳研究院
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