Initial registration algorithm of three-dimensional point cloud based on barycenter and centroid transformation

Abstract

The invention provides an initial registration algorithm of three-dimensional point cloud based on barycentric and centroid transformation and aims to solve the problem that ICP and other accurate registration algorithms easily fall into local optimization in three-dimensional point cloud registration. The point cloud is first filtered. Then, a preliminary model of rotation transformation betweenpoint cloud data is established by using the center of mass and the center of gravity of point cloud data. Secondly, according to the relationship between rotation angle and registration error, an iterative rotation model is established to find out the best rotation angle and complete the initial registration. Finally, combined with ICP algorithm, the validity of the initial registration algorithmis verified. The algorithm of the invention is compared with the initial registration method through the center of gravity coincidence, and the result shows that the initial registration effect of the algorithm proposed by the invention is obviously superior to the initial registration method based on the center of gravity coincidence, and the initial registration effect is better.

Description

technical field [0001] The invention relates to the field of technical computer applications, in particular to a three-dimensional point cloud initial registration algorithm based on center of gravity and center of mass transformation. Background technique [0002] With the continuous advancement of 3D point cloud scanning and processing technology, point cloud registration is a very important basic issue in the fields of reverse engineering, 3D printing, 3D reconstruction, and industrial measurement. At the same time, multi-view point cloud registration is the basic work of generating a complete 3D point cloud model, and it is also the research focus and difficulty in 3D modeling technology. [0003] The most widely used algorithm for point cloud registration is the iterative closest point (ICP) algorithm. This algorithm has a better registration effect when the point clouds to be registered are relatively close, but it is easy to converge to local optimization when the in...

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Problems solved by technology

[0005] Aiming at the problem that precise registration algorithms such as ICP in 3D point cloud registration tend to fall into local optimum, the present invention provides a 3D point cloud initial registration algorithm based on center of gravity and centroid transformation, mainly based on the improvement of center of gravity coincidence, the algorithm Compared with the initial registration method based on the coincidence of the center of gravity, the initial registration effect of the algorithm proposed by the present invention is obviously better than the initial registration method based on the coincidence of the center of gravity, and the initial registration effect is better

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