基于平面基元组的建筑物场景点云自动配准方法

发布时间：2018-02-26 03:19

  本文关键词： 建筑物 平面提取 层次聚类 平面基元组 点云配准 随机采样一致性(RANSAC)　出处：《武汉大学学报(信息科学版)》2016年12期 　论文类型：期刊论文

【摘要】：三维激光扫描点云在建筑物场景配准中存在同名特征难以区分、投票匹配算法复杂度高等问题。为此,提出了一种基于平面基元组的建筑物场景点云自动配准方法。平面基元组被定义为具有近似相同法向量的点云面集合。该方法从点云中提取平面基元,根据平面法向量方向,划分平面基元组,然后借助基元组搜索同名平面,利用单位四元数法估计转换参数。实验结果表明,该方法适用于建筑物场景,能够实现点云的自动配准。
[Abstract]:3D laser scanning point cloud in building scene registration has problems such as hard to distinguish the same name features, high complexity of voting matching algorithm and so on. This paper presents an automatic registration method for building scene point clouds based on planar primitives, which is defined as a set of point cloud surfaces with approximately the same normal vectors. The method extracts plane primitives from point clouds and extracts them according to the direction of plane normal vectors. The transformation parameters are estimated by using the unit quaternion method. The experimental results show that this method is suitable for building scene and can realize the automatic registration of the point cloud by using the primitive group to search the plane with the same name and to estimate the conversion parameters by using the unit quaternion method.
【作者单位】： 中国地质大学(武汉)信息工程学院;
【基金】：国家自然科学基金(41471355) 中央高校基本科研业务费专项资金(CUGL120267)~~
【分类号】：TU198;TN249
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本文编号：1536311