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1、A Brief Introduction Of Point,Cloud Registration Method,杨哲,173282,2,Point Cloud Registration Method,1,Point Cloud Registration With Target Control,2,Iterative Closest Point(ICP)Algorithm,3,Quaternion Method,4,仪器科学与工程学院,4,Outline,Two point cloud sets of A and B,are conformations of the same points in
2、 different coordinate systems,Rigid transformation:,Objective function:,仪器科学与工程学院,4,1.Point Cloud Registration With Target Control,面,（,a,）,Leica standard rotation plane target,（,b,）,Mensi plane target,（,c,）,FARO standard plane target,（,d,）,Mensi plane target,Figure 1 Different kinds of plane target,
3、仪器科学与工程学院,1.Point Cloud Registration With Target Control,5,6 spatial similarity transformation parameters,3 angle elements:,3 translation,elements:,Adjustment model:,Or,仪器科学与工程学院,6,1.Point Cloud Registration With Target Control,Rotation matrix:,仪器科学与工程学院,1.Point Cloud Registration With Target Contro
4、l,7,The expansion of Taylors formula:,Error Equation:,仪器科学与工程学院,8,1.Point Cloud Registration With Target Control,Derivative value:,G,Suppose that:,仪器科学与工程学院,1.Point Cloud Registration With Target Control,9,Error equation matrix:,Gravity-centralize:,仪器科学与工程学院,1.Point Cloud Registration With Target Co
5、ntrol,10,N pairs of corresponding points:,Order:,仪器科学与工程学院,1.Point Cloud Registration With Target Control,11,Error equation:,仪器科学与工程学院,1.Point Cloud Registration With Target Control,12,New approximate value:,Iteration:,Finally,we get the values of parameter:,仪器科学与工程学院,2.Iterative Closest Point(ICP)A
6、lgorithm,13,Basic thought:,Firstly,from a point set,a bar curve,or a surface to find,the closest point that corresponds to one point,and then,uses this result to find two corresponding point sets.,Finally,we find out the corresponding point set and the,corresponding transformation matrix.,Basic step
7、s:,Step1:Search for the nearest points,Step2:Solve transformation relations,Step3:Application transformation,Step4:Repeated iteration,仪器科学与工程学院,3 Quaternion Method,14,?,What is Quaternion?,?,Unit quaternions,?,Rotation matrix R,仪器科学与工程学院,3.Quaternion Method,15,Definite translation vector:,Complete r
8、egistration station:,Assume that:,Minimum objective function:,The centroid of the set of basic points:,仪器科学与工程学院,3.Quaternion Method,16,Orthogonal covariance matrix of point set:,Antisymmetric matrixs cyclic components:,Construct a symmetric matrix:,仪器科学与工程学院,3.Quaternion Method,17,The unit eigenvector corresponding to the maximum,eigenvalue of matrix:,Translation matrix:,Conclusions,仪器科学与工程学院,！,18,Thank you,
