点云配准方法.ppt课件.ppt

1、A Brief Introduction Of Point Cloud Registration Method 杨哲杨哲 173282 2 Point Cloud Registration Method 1 Point Cloud Registration With Target Control 2 Iterative Closest Point(ICP) Algorithm 3 Quaternion Method 4 仪器科学与工程学院仪器科学与工程学院 4 Outline Two point cloud sets of A and B, are conformations of the s

2、ame points in different coordinate systems Rigid transformation: Objective function: 仪器科学与工程学院仪器科学与工程学院 4 1. Point Cloud Registration With Target Control 面面 （a）Leica standard rotation plane target （b） Mensi plane target （c）FARO standard plane target （d） Mensi plane target Figure 1 Different kinds of

3、 plane target 仪器科学与工程学院仪器科学与工程学院 1. Point Cloud Registration With Target Control 5 6 spatial similarity transformation parameters 3 angle elements: 3 translation elements: Adjustment model: Or 仪器科学与工程学院仪器科学与工程学院 6 1. Point Cloud Registration With Target Control Rotation matrix: 仪器科学与工程学院仪器科学与工程学院 1.

4、 Point Cloud Registration With Target Control 7 The expansion of Taylors formula: Error Equation: 仪器科学与工程学院仪器科学与工程学院 8 1. Point Cloud Registration With Target Control Derivative value: G Suppose that: 仪器科学与工程学院仪器科学与工程学院 1. Point Cloud Registration With Target Control 9 Error equation matrix: Gravity

5、-centralize: 仪器科学与工程学院仪器科学与工程学院 1. Point Cloud Registration With Target Control 10 N pairs of corresponding points: Order: 仪器科学与工程学院仪器科学与工程学院 1. Point Cloud Registration With Target Control 11 Error equation: 仪器科学与工程学院仪器科学与工程学院 1. Point Cloud Registration With Target Control 12 New approximate value

6、: Iteration: Finally, we get the values of parameter: 仪器科学与工程学院仪器科学与工程学院 2. Iterative Closest Point(ICP) Algorithm 13 Basic thought: Firstly, from a point set, a bar curve, or a surface to find the closest point that corresponds to one point, and then uses this result to find two corresponding point

7、 sets. Finally, we find out the corresponding point set and the corresponding transformation matrix. Basic steps: Step1:Search for the nearest points Step2:Solve transformation relations Step3:Application transformation Step4:Repeated iteration 仪器科学与工程学院仪器科学与工程学院 3 Quaternion Method 14 ? What is Qua

8、ternion ? ? Unit quaternions ? Rotation matrix R 仪器科学与工程学院仪器科学与工程学院 3. Quaternion Method 15 Definite translation vector: Complete registration station: Assume that: Minimum objective function: The centroid of the set of basic points : 仪器科学与工程学院仪器科学与工程学院 3. Quaternion Method 16 Orthogonal covariance matrix of point set: Antisymmetric matrixs cyclic components: Construct a symmetric matrix: 仪器科学与工程学院仪器科学与工程学院 3. Quaternion Method 17 The unit eigenvector corresponding to the maximum eigenvalue of matrix : Translation matrix: Conclusions 仪器科学与工程学院仪器科学与工程学院 ！ 18 Thank you