The invention discloses a
road surface point cloud multi-frame registration method and
system based on an improved ICP
algorithm, and relates to the technical field of road inspection, and the method comprises the steps: obtaining the multi-frame
road surface point cloud data and initial attitude
estimation of a frozen soil region, and calculating a space overlapping ratio and a dynamic proportion through a three-dimensional grid; calculating a density increasing demand
score and a density reducing pressure
score based on a space overlapping rate and a dynamic proportion, adaptively determining a
thinning proportion, adopting non-uniform
voxel sampling, and recalculating a normal vector; the method comprises the steps of establishing an initial corresponding relation between a source
point cloud and a reference point cloud, calculating normal reliability,
voxel occupancy uniformity and a preheating interior point rate, adaptively selecting a registration strategy through net information revenue, including a point-to-point ICP
algorithm, a point-to-surface ICP
algorithm or a two-stage ICP algorithm, and solving optimal
rigid body transformation; applying the transformation to the original high-density point cloud,
processing an overlapping region by adopting a weighted fusion strategy, and generating a registered high-density point cloud and log; the method effectively improves the registration precision and efficiency, and is suitable for frozen soil region pavement
point cloud processing.