一种新的激光成像数据多视粗拼接算法

J4 ›› 2013, Vol. 35 ›› Issue (12): 146-152.

一种新的激光成像数据多视粗拼接算法

左超，鲁敏，谭志国，郭裕兰

(国防科学技术大学电子科学与工程学院，湖南长沙 410073)

收稿日期:2012-05-15 修回日期:2012-10-11 出版日期:2013-12-25 发布日期:2013-12-25

A novel method for registration of multiview laser imaging data

ZUO Chao，LU Min，TAN Zhiguo，GUO Yulan

(School of Electronic Science and Engineering,National University of Defense Technology,Changsha 410073,China)

Received:2012-05-15 Revised:2012-10-11 Online:2013-12-25 Published:2013-12-25

摘要/Abstract

摘要：

针对激光成像数据的多视拼接问题，采用先粗后细的拼接策略，提出了一种新的粗拼接算法。该算法首先估计出待拼接点云数据存在的旋转偏移角，再通过相应的旋转来消除这种偏移，从而实现粗拼接。在此基础上，采用精确拼接ICP算法作最终拼接。实验表明，本文提出的粗拼接算法能够有效地实现不同视点下激光成像数据的粗拼接，该方法简单、高效，且适用于不同分辨率的数据拼接。

关键词: 激光成像数据, 旋转角, 粗拼接, ICP

Abstract:

For the problem of the multiview registration of laser imaging data, the coarsetofine strategy is adopted so that a novel coarse registration method is proposed. The proposed method first estimates the rotation excursion angles of variousview point clouds, and then eliminates the existed excursion by corresponding rotation, thus realizing the coarse registration. Finally, ICP (Iterative Closest Point) is employed for fine registration. Experimental results show that the proposed method can realize coarse registration of variousview laser imaging data effectively and demonstrate that the method is simple and highefficient so as to be suitable to differentresolution data.

Key words: laser imaging data;rotation angle;coarse registration;iterative closest point

左超，鲁敏，谭志国，郭裕兰. 一种新的激光成像数据多视粗拼接算法[J]. J4, 2013, 35(12): 146-152.

ZUO Chao，LU Min，TAN Zhiguo，GUO Yulan. A novel method for registration of multiview laser imaging data [J]. J4, 2013, 35(12): 146-152.