Initial registration algorithm of 3D point cloud based on centroid and centroid transformation
An initial registration and 3D point cloud technology, applied in computing, image analysis, image enhancement, etc.
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[0027] Considering that the actual data collection inevitably contains noise. In the present invention, the situation with noise is mainly discussed, and the registration effect of the algorithm on closed data and non-closed point cloud sets is respectively shown, and compared with the registration method through the coincidence of the center of gravity of the point cloud. Experimental data adopts Stanford University standard database bunny and dragon point cloud data, and for making experiment more universal, embodiment also adopts the toy point cloud data that general scanner scans to obtain.
[0028] When there is noise and the point cloud data is closed, the experimental results are as follows: figure 1 shown. The first line is the initial registration and the final precise registration using the algorithm of the present invention, and the second line is the registration result after the center of gravity of the point cloud data is coincident.
[0029] The first column i...
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