点云配准方法.ppt

（d） Mensi plane target
Figure 1 Different kinds of plane target
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1. Point Cloud Registration With Target Control
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6 spatial similarity transformation parameters 3 angle elements: 3 translation elements: Adjustment model:
Basic steps: Step1:Search for the nearest points Step2:Solve transformation relations Step3:Application transformation Step4:Repeated iteration
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3 Quaternion Method
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? What is Quaternion ? ? Unit quaternions
? Rotation matrix R
仪器科学与工程学院
3. Quaternion Method
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Definite translation vector: Complete registration station: Assume that: Minimum objective function:
Conclusions
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Thank you！
Objective function:
仪器科学与工程学院
1. Point Cloud Registration With Target Control
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面
（a）Leica standard rotation plane target （b） Mensi plane target
（c）FARO standard plane target
仪器科学与工程学院
1. Point Cloud Registration With Target Control
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Derivative value:
G
Suppose that:
仪器科学与工程学院
1. Point Cloud Registration With Target Control
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Error equation matrix:
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Error equation:
仪器科学与工程学院
1. Point Cloud Registration With Target Control
ห้องสมุดไป่ตู้
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New approximate value:
Iteration:
Finally, we get the values of parameter:
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Or
仪器科学与工程学院
1. Point Cloud Registration With Target Control
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Rotation matrix:
仪器科学与工程学院
1. Point Cloud Registration With Target Control
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The expansion of Taylor's formula: Error Equation:
Gravity-centralize:
仪器科学与工程学院
1. Point Cloud Registration With Target Control
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N pairs of corresponding points:
Order:
仪器科学与工程学院
1. Point Cloud Registration With Target Control
2. Iterative Closest Point(ICP) Algorithm
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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 sets. Finally, we find out the corresponding point set and the corresponding transformation matrix.
3 Quaternion Method
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Outline
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Two point cloud sets of A and B, are conformations of the same points in different coordinate systems
Rigid transformation:
A Brief Introduction Of Point Cloud Registration Method
杨哲 173282
Point Cloud Registration Method
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1 Point Cloud Registration With Target Control
2 Iterative Closest Point(ICP) Algorithm
The centroid of the set of basic points :
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3. Quaternion Method
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Orthogonal covariance matrix of point set: Antisymmetric matrix's cyclic components:
Construct a symmetric matrix:
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3. Quaternion Method
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The unit eigenvector corresponding to the maximum
eigenvalue of matrix
:
Translation matrix: