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阵列激光三维成像作为一种新型的非合作目标三维图像获取技术,高效的回波信号处理和三维重构方法是提高其探测能力和成像精度的前提,其中配准过程是阵列激光三维成像点云数据处理中必不可少的步骤.本文根据阵列激光三维成像系统的成像特点,对迭代最近点(ICP)配准算法中阈值设定依据进行分析,结合阵列激光三维成像系统中的重要参数测距精度和成像横向分辨率,对配准迭代过程中对应点距离阈值和迭代停止阈值进行有针对的设置,提出了基于自适应阈值的ICP点云配准方法.对阵列激光成像点云和扫描激光深度成像数据的实验表明该算法有效可行,能够提高配准精度和配准速度,同时由于该算法充分考虑了成像系统本身,在实际应用中对系统的合理设计具有一定的指导意义.
[1] Albota M A, Aull B F, Fouche D G, Heinrichs R M, Kocher D G, Marino R M, Mooney J G, Newbury N R, O'Brien M E, Player B E, Willard B C, Zayhowski J J 2002 Linc. Lab. J. 13 351
[2] Marino R M, Stephens T, Hatch R E, Mclaughlin J L, Mooney J G, Obrien M E, Rowe G S, Adams J S, Skelly L, Knowlton R C, Forman S E, Davis W R 2003 Proc. SPIE 5086 1
[3] Besl P J, Mckay N D 1992 IEEE Trans. Pattern Anal. Mach. Intell. 14 239
[4] Wang Y, Zhang M M, Yu X, Zhang C M 2012 Opt. Precis. Eng. 20 2068 (in Chinese)[王欣, 张明明, 于晓, 章明朝2012光学精密工程 20 2068]
[5] Jost T, Hugli H 2002 First International Symposium on 3D Data Processing Visualization and Transmission Padova, Italy, June 19-21, 2002 p540
[6] Masuda T, Sakaue K, Yokoya N 1996 Proceedings of the 13th International Conference on Pattern Recognition Washington, DC, USA, August 25-29, 1996 p879
[7] Zinsser T, Schmidt J, Niermann H 2003 2003 International Conference on Image Processing 2 695
[8] Armbruster W, Hammer M 2012 Proc. SPIE 8542 85420K
[9] Guo Y L, Wan J W, Lu M Tan Z G 2012 Opt. Precis. Eng. 20 843 (in Chinese)[郭裕兰, 万建伟, 鲁敏, 谭志国2012光学精密工程 20 843]
[10] Chen Y, Medioni G 1991 Proceedings IEEE International Conference on Robotics and Automation Sacramento, USA, April 9-11, 1991 p2724
[11] Silva L, Bellon O, Boyer K L 2015 Image Vis. Comput. 25 114
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[1] Albota M A, Aull B F, Fouche D G, Heinrichs R M, Kocher D G, Marino R M, Mooney J G, Newbury N R, O'Brien M E, Player B E, Willard B C, Zayhowski J J 2002 Linc. Lab. J. 13 351
[2] Marino R M, Stephens T, Hatch R E, Mclaughlin J L, Mooney J G, Obrien M E, Rowe G S, Adams J S, Skelly L, Knowlton R C, Forman S E, Davis W R 2003 Proc. SPIE 5086 1
[3] Besl P J, Mckay N D 1992 IEEE Trans. Pattern Anal. Mach. Intell. 14 239
[4] Wang Y, Zhang M M, Yu X, Zhang C M 2012 Opt. Precis. Eng. 20 2068 (in Chinese)[王欣, 张明明, 于晓, 章明朝2012光学精密工程 20 2068]
[5] Jost T, Hugli H 2002 First International Symposium on 3D Data Processing Visualization and Transmission Padova, Italy, June 19-21, 2002 p540
[6] Masuda T, Sakaue K, Yokoya N 1996 Proceedings of the 13th International Conference on Pattern Recognition Washington, DC, USA, August 25-29, 1996 p879
[7] Zinsser T, Schmidt J, Niermann H 2003 2003 International Conference on Image Processing 2 695
[8] Armbruster W, Hammer M 2012 Proc. SPIE 8542 85420K
[9] Guo Y L, Wan J W, Lu M Tan Z G 2012 Opt. Precis. Eng. 20 843 (in Chinese)[郭裕兰, 万建伟, 鲁敏, 谭志国2012光学精密工程 20 843]
[10] Chen Y, Medioni G 1991 Proceedings IEEE International Conference on Robotics and Automation Sacramento, USA, April 9-11, 1991 p2724
[11] Silva L, Bellon O, Boyer K L 2015 Image Vis. Comput. 25 114
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