基于图像的点云初始配准

张晓;张爱武

【期刊名称】《计算机工程与设计》

【年(卷),期】2014(000)010

【摘要】Aiming at the problems of the point clouds registration for the terrestrial laser scanning technique (TLS) ,such as the different resolution ,an initial registration algorithm with the combination of the 2d image and the 3d point cloud was presented . In this algorithm ,the different resolution point clouds were firstly filtered uniformly .Then ,the three-dimensional point cloud was transformed into the two-dimensional gray image based on the point cloud depth value ,and the image feature matching points were extracted using SURF algorithm .According to the corresponding relation ,the 3D feature points were found .Final-ly ,the transformation matrix was calculated by using the unit quaternion and the initial registration was completed .Results of the experiment indicate the algorithm is greatly improved both in terms of the registration accuracy and registration time .%针对地面激光点云的分辨率不同等问题，提出一种不借助额外装置，把二维图像与三维点云相结合的初始配准方法。把不同分辨率点云均匀滤波，根据深度值把三维点云转化为二维灰度图，利用SURF算法提取图像的特征匹配点对；根据映射关系找到三维特征匹配点，利用单位四元数法求出变换矩阵完成点云初始配准。实验结果表明，该算法对于地面激光数据的配准，无论从配