Initial Registration Method of Point Cloud Based on Sequence Images

doi:10.3901/JME.2020.09.215

Abstract

Abstract: An initial registration algorithm for point clouds combining two-dimensional sequence images is proposed to solve the problem that the existing algorithms are difficult to accurately register the point clouds with small overlapping area. The gray-scale images and point cloud data of physical surface are obtained based on the mobile three-dimensional measurement method. It depends on the principle of perspective projection that the position of a camera in the local coordinate system of a point cloud is located, and a transformation matrix that transforms the point cloud to the corresponding camera coordinate system is obtained. The image feature points and their matching points are used as matching pairs, the external parameters of the camera are globally optimized by reconstructing the sequence images, and then the point cloud registration is realized according to the initial registration formula. The results of experiment show that the method can correctly register the point cloud with small overlapping area and significantly improve the robustness and efficiency of the registration process.

Key words: initial registration of point clouds, mobile three-dimensional measurement, structure from motion, sequence images

CLC Number:

TP391

SUN Dianzhu, SHEN Jianghua, LI Yanrui, LIN Wei. Initial Registration Method of Point Cloud Based on Sequence Images[J]. Journal of Mechanical Engineering, 2020, 56(9): 215-222.

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