In this paper,an improved point clouds registration algorithm combining intrinsic shape signatures (ISS) features and binary signatures of the histograms of orientations(BSHOT) is proposed to address the problem that registration efficiency and accuracy cannot be achieved simultaneously during the point clouds registration process. Firstly,the feature points are extracted by voxel grid sampling and ISS features;then,the BSHOT are combined with Hamming distance and RANSAC algorithm for rough registration;finally,exact registration is performed using the improved ICP algorithm. The results show that the improved algorithm is superior to other algorithms in terms of registration time and accuracy under the same conditions. It shows that the proposed method has higher registration efficiency and accuracy,and the registration accuracy is enhanced with the increase of the number of point clouds.
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黄鹏,丁海勇,刘春雷.结合形态描述和直方图特征改进的点云配准[J].激光与红外,2023,53(1):34~40 HUANG Peng, DING Hai-yong, LIU Chun-lei. Improved point cloud registration combining morphological description and histogram features[J]. LASER & INFRARED,2023,53(1):34~40