УДК: 004.932.2

Study on a stitching algorithm of the iterative closest point based on dynamic hierarchy

Fan Y., Cheng H., Bao Xing B., Chao Z., Wen Jing L.

Полный текст на elibrary.ru

Публикация в Journal of Optical Technology

Ссылка для цитирования:

Y. Fan, H. Cheng, B. Bao Xing, Z. Chao, L. Wen Jing Study on a stitching algorithm of the iterative closest point based on dynamic hierarchy [на англ. яз.] // Оптический журнал. 2015. Т. 82. № 1. С. 37–42.

Y. Fan, H. Cheng, B. Bao Xing, Z. Chao, L. Wen Jing Study on a stitching algorithm of the iterative closest point based on dynamic hierarchy [in English] // Opticheskii Zhurnal. 2015. V. 82. № 1. P. 37–42.

Ссылка на англоязычную версию:

Y. Fan, H. Cheng, B. Bao Xing, Z. Chao, and L. Wen Jing, "Study on a stitching algorithm of the iterative closest point based on dynamic hierarchy," Journal of Optical Technology. 82(1), 28-32 (2015). https://doi.org/10.1364/JOT.82.000028

Аннотация:

In order to improve the efficiency of matching marked points, the accuracy and automation of point cloud stitching, a stitching algorithm of dynamic hierarchy of the iterative closest point is proposed. First, the dynamic distance matrix was introduced to record the distance of hierarchical searching marked point; to complete the coarse stitching, the marked point was matched through the dynamic distance matrix and the least square method was used to resolve the transformation matrix. Second, at the stage of precisely stitching dynamic hierarchical search points a set was taken to initialize a valid initial position for the iterative closest point algorithm, then the local optimum of the iterative closest point algorithm was avoided. In a three-dimensional stitching experiment the precise stitching distance error has reached 0.0085 mm; the method is testified to be simple, practical and characterized by high stitching precision.

Ключевые слова:

stitching, computer vision, marked point, dynamic hierarchy, Iterative Closest Point

Коды OCIS: 100.3010

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