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Abstract: A novel registration method for point clouds is presented, which consists of three main steps. Corresponding points are found through the invariants of Gaussian images. Some erroneous coincidence relationships are eliminated based on the clustering characteristic of rigid transformations between corresponding points. The rigid transformation of the registration is obtained in an iterative process by using singular value decomposition. Experiments show that the invariants of Gaussian images are more effective in identifying corresponding points than curvatures. Compared with the traditional iterative closest point (ICP) algorithm, the proposed method is better to register partially overlapped point clouds.
Key words: Registration Gaussian image Invariant
C-space clustering
Singular value decomposition
CLC No: TP391
国家自然科学基金(50335020, 50405032)和国家重点基础研究发展计划(国家973计划, 2005CB724103)资助项目. 第一届全国智能制造学术会议推荐论文. Received 20070205, received in revised form 20070607
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