一种改进的二维ICP点云配准算法
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东莞理工学院城市学院重大科技培育项目(No.2018YZD001Z);广东省科技厅(No.2019A1515110352)资助。


An improved two-dimensional ICP point cloud registration algorithm
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    摘要:

    为解决传统ICP算法存在的运行不稳定、处理速度慢等问题,本文分析了传统ICP算法的缺点并对其进行了改进。首先,针对传统ICP算法容易出现的迭代方向错误问题,本文打乱了目标点集的点序号,然后在目标点寻找最近点时选择一对一的方式进行。算法的处理速度上,本文通过设置动态阈值,剔除了误匹配点对,减少了ICP算法的迭代次数,进而提高了算法的处理速度。

    Abstract:

    In order to solve the problems of unstable operation and slow processing speed of the traditional ICP algorithm,the shortcomings of the traditional ICP algorithm are analyzed and improved.First of all,in order to solve the problem of iterative direction error that the traditional ICP algorithm is prone to,the point number of the target point set is disrupted,and then a one-to-one approach is selected when finding the closest point at the target point.In terms of the processing speed of the algorithm,the mismatched point pairs are eliminated by setting a dynamic threshold,the number of iterations of the ICP algorithm are reduced,and the processing speed of the algorithm is improved.

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引用本文

谢小鹏,古家威.一种改进的二维ICP点云配准算法[J].激光与红外,2021,51(7):951~955
XIE Xiao-peng, GU Jia-wei. An improved two-dimensional ICP point cloud registration algorithm[J]. LASER & INFRARED,2021,51(7):951~955

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  • 最后修改日期:2020-09-22
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  • 在线发布日期: 2021-07-22