Quick ICP method for three-dimensional laser radar point cloud matching

A point cloud matching, 3D laser technology, applied in the field of fast ICP, can solve the problems of ICP algorithm falling into local optimal solution, unable to process 3D lidar point cloud data, and low efficiency of ICP algorithm.

Inactive Publication Date: 2015-05-13
UNIV OF ELECTRONICS SCI & TECH OF CHINA ZHONGSHAN INST
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Problems solved by technology

However, the ICP algorithm has the following disadvantages: (1) the initial estimate is required to be more accurate, (2) a large amount of point clo...

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  • Quick ICP method for three-dimensional laser radar point cloud matching
  • Quick ICP method for three-dimensional laser radar point cloud matching
  • Quick ICP method for three-dimensional laser radar point cloud matching

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Embodiment Construction

[0035] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with the accompanying drawings and specific examples.

[0036] The invention is applied to the three-dimensional pose estimation of mobile robots

[0037] Γ t Relative to Γ t-1 The pose of is denoted as x t =(x t ,y t ,z t ,α t ,β t ,γ t ) T , where x t ,y t ,z t Respectively represent Γ t The origin of the coordinate system is in the coordinate system Γ t-1 Coordinates in , γ t , β t , α t Respectively represent Γ t Relative to Γ t-1 Rotation angle in X, Y, Z axes.

[0038] Then the translation vector is,

[0039] p t =(x t ,y t ,z t ) T

[0040] The rotation matrix is,

[0041] H t = cos α t ...

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Abstract

The invention discloses a quick ICP method for three-dimensional laser radar point cloud matching. In terms of characteristics of original point cloud data of three-dimensional laser radar, the method is used for quickly calculating the closest point between two point clouds under a polar coordinate system. The three-dimensional laser radar point cloud registration speed is increased according to the method. The registration speed of the original point cloud data of the three-dimensional laser radar is greatly increased, namely time complexity is reduced from O (DNcNm) of the classic ICP method to O (DNc), wherein Nc is the number of current point cloud data, and Nm is the number of model point set data.

Description

technical field [0001] The invention relates to a fast ICP method, in particular to a fast ICP method for three-dimensional lidar point cloud matching. Background technique [0002] 3D lidar provides 3D depth information of the environment (or objects), and is widely used in many applications such as robot navigation, object reconstruction, medical image analysis, terrain mapping, and cultural relic protection. [0003] The point cloud data provided by 3D lidar needs to be registered before it can be used for subsequent environment modeling, object reconstruction, terrain construction and other work. At present, the widely used 3D lidar data matching method is the latest iterative algorithm (ICP, Iterative Close Point) and its improved method. However, the ICP algorithm has the following disadvantages: (1) the initial estimation is required to be more accurate, (2) a large amount of point cloud data makes the ICP algorithm inefficient, and (3) the ICP algorithm may fall int...

Claims

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Application Information

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IPC IPC(8): G06F19/00
Inventor 段琢华梁瑞仕马慧邹昆
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA ZHONGSHAN INST
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